Can I replace "into" to "to"? Or does the meaning get changed if I do so?
The meaning does get changed if you replace "into" with "to." We know that "to" refers to an action or the direction of a thing or place, whereas "into" refers to the middle or inside of something/somewhere. The speaker is referring to the action of mistakenly colliding with a door. Thus, "into" is more appropriate here. Ex. I walked to school today. Ex. I walked from the bedroom into the kitchen.