The wall between the bedrooms is likely load bearing and hard to move so a hallway would take 40" from one of the bedrooms.

 

I have 2 bedrooms at the back of the house. Kitchen/Side door but no back door. Not sure I want a door straight into a bedroom, but open to suggestions. No hallway between the 2 bedrooms. View attachment 849302

Can you sketch a quick layout of the walls in the whole house?

 

You don't need a doors. What brought this up? Access, emergency egress? Even if the house is new to you, the lack of egress is ok because the house was built before such building codes. The town can not force you. Search "grandfathering". Your own worries? If yes, you can change the windows to modern code sizes. Search. The sizes are specific and have not changed for many years, as such stable.

 

I think that's really normal for this layout of house- there are tons of them like that in the neighborhood I grew up in and I don't see the reason for a door.

 

Yes, fully normal. Same as house I grew up in.

With the driveway and garage at the side, it was (correctly, IMHO) concluded that a door at the side was more useful than one at the rear.

 

Remove one bedroom window and install sliders that would go out to a nice deck.