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Unfortunately a common problem.
In some markets there was a recall for this issue and they fitted a clear tape between the plastic and paintwork.
Try some trim cleaner on your door rubbers. I coated my 05 Scenic II with some wax and trim cleaner round the plastic edges of the panel which seemed to do the trick.
Luckily my 07 Scenic II is OK.
If car is less than a year old report it to your service Dept as Asterix has suggested.