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Why would you go to bard college? Pick intimidation as a skill on character creation, pick a background that has it because it makes sense, pick a feat that grants intimidation if your character practices or tries to intimidate people regularly.
As always, the DC of the roll changes depending on your actions. If you perform something super scary with your axe or whatever depending on the enemy the DC of the rill will get lowered, obviously.
Do you need to roll a check to open the door every morning? Some things can just happen, unless you’re specifically going for a goofy “hehe he slipped out of my fingers” type of game.