yes you have to remove the door panel to take it out. here's a video of that. https://www.youtube.com/watch?v=4jBK-5ng01M
the part looks like the picture.
if you have something that can pry the door check out of the door, you could just unbolt the door check where it bolts to the body and carefully close the door. That will push the door closer into the door. when you open the door the check will stay in the door and the noise should be gone. Be careful because now there is nothing to keep the door from over extending and causing damage to the body. Then you will have to use something to pull the closer back out so you can bolt it back up when you are done checking it. That will be difficult and you may need a second person to hold the door so it won't swing too forward.
it might be better to just buy a new door check online for 15-25 dollars and just take the door panel off and put in the new one. It is very common for them to go bad.