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Once the inside is full of water, you can open the doors 😀
It's not that simple. Mythbusters tested it and with a sample size of n=1 they weren't able to open the doors as quickly as they needed. Seems the cabin has to be completely full of water and since most cars tend to sink nose first there is usually a pocket of air at the back long after the front area has filled up, you'd need to hold your breath way longer than you think.
If you're not panicking then the headrests in most cars can be removed and the metal spikes on them are specifically designed to allow you to smash a side window from inside, even when the inside is completely full of water.