Touch the tip of your tongue to the roof of your mouth just behind your teeth. Add vocal cord vibration as you release.

Americans pronounce doorstep as DOR-stehp (/ˈdɔrˌstɛp/). Stress falls on the first syllable — keep everything else short and quick. You'll hear it in sentences like "The newspaper is delivered to our doorstep around six o'clock".
Record yourself saying "doorstep" and play it back. The mic stays on your device — nothing's uploaded.
2 syllables, 6 sounds. Tap a syllable to jump to its row, then explore each sound's mouth shape and how it's made.
Place your tongue tip near the roof of your mouth behind your top teeth. Push air through the narrow gap. No voicing.

Touch the tip or front edge of your tongue to the roof of your mouth just behind your teeth. Keep your jaw relaxed. Stop the air, then release with a puff.

Drop your jaw moderately. Touch the tongue tip behind the bottom front teeth and lift the mid-front part slightly toward the roof.

Press your lips together to stop the air, then release. No vocal cord vibration.

The textbook way isn't wrong — it's just not how anyone actually says it.
Stress falls on the first syllable, not the others. Stretch DOR — keep everything else short and quick.
Americans use a relaxed retroflex R — the tongue curls back rather than rolling. The R is one continuous sound with the vowel before it, not two separate sounds.