From what you have told us, here is what I know:
1) Your vehicle was involved in a collision.
2) Your drivers side door is making a noise.
3) The noise from the door sounds like Styrofoam rubbing together.
4) The auto body shop says there is nothing in the door that could make that sound.
5) I have no idea on time frame(s).
What I don't know is what part of the H3 was involved in the collision. If any or all of the damage from the collision was repaired. If it was who repaired it. If any of the other doors make a noise, similar or not etc...
I am assuming the collision involved the drivers door or some part that interacts with it. I am further assuming that the damage was repaired. The repair was done by the dealership. I am assuming this all happened recently.
If this all happened recently. If the H3 was repaired. Take it back to whom ever repaired it and take them a ride and/or let them drive it around. Tell them about the noise and your dissatisfaction with it. They can't fix what they can't define. It is their responsibility to fix it.
If it hasn't been fixed then take it to a collision specialist. Take them a ride in in it to get an estimate for the repair. Have them write you up an itemized estimate. Inquire why each thing itemized is listed and get it repaired or fix it your self. Lots of things involved with a door can make noises such as you speak. The door and another door rubbing together, the door and the fender, the inner door and the door panel rubbing together, the door panel and the dash. the door hinges. If the H3 hasn't been repaired the place to start is truing the door up, evaluating what is there, from that point and seeing what parts don't mesh together well and resolving those issues.