When someone knocks at the door, go to the door but get her under control before your open it. She should be made to back up and sit. Ask a friend to help and be the guest on the outside. Use a leash until she can be trusted not to dash out, or a babygate to block her.
In the car... my Tink would stand on the window controls and once while at a light, the window on her side started going down as my heart rate steadily increased.
We were in a van and it took me too long to remember i had controls on my side, but no lock out like for little kids. When I got home, I immediately got online and found a seatbelt for her and my other 3. Now, they get in, go to the back seat and wait for me to secure them in. I forget I have dogs in the van now. The difference is unbelievable. And they like it too, as they don't get tossed around on sudden stops and turns. This one is less than $10.00:
Seatbelt & Harness Safety Set and it locks right into the seat belt in the car and is adjustable.
Also, I'm not sure if you use a collar and leash or a harness and leash, but a harness is much gentler on their necks, throats and airways.
In all, she sounds like a wild, but happy dog! She's just confused. Two walks, one in the am and one at evening would be great for her mentally, and physically, and will help her to see you as the boss. Mine have a blast on walks. Plus it wears them out.
Yorkies do better with guidance and rules... just like kids. If you don't set some rules for them, they just run amock!
Same goes if she gets out. When she comes back to you, praise her. Work on basic traing, things like sit, stay, come... etc. There are plenty Utube videos out there on training, just use care in chosing the trainer.
Good luck with her... I think you'll both do great. Just practice alot, and always end on a good note, and if there is no good note... make one up!
And come back and update this thread anytime, I'd like to hear how she's doing, if it's okay with you... or if you need some more ideas...
Sometimes we have bad days... I'll look at the dog, and if she's standing, I'll say 'stand' real quick, then 'Good Girl' and give her a treat. That's how I make a good note to end on.
Oh and have fun too!