Those who believe there is something sinister about people knocking on doors offering vaccines are truly rabid. People knock on doors all the time--I used to do it when I was in high school selling Kirby vacuums.
I'll freely admit that I find those knocking on doors to be annoying--but there is nothing sinister or evil about annoyance.
My guess is that if health workers go door to door offering vaccines, they'll get about 19 out of 20 people telling them to get lost in various ways, from polite to extremely rude. 1 out of 20 people will say, "oh, I've been meaning to get the shot, and now you're here offering it. Now is as good a time as any".
The result will be fewer infections, fewer people disabled by long term consequences of this disease and fewer deaths.
I am fully cognizant of the fact that sending health workers door to door isn't a function of government contemplated within any school of libertarian thought. There's a lot of stuff the state does that isn't contemplated in any school of libertarian thought. I'd prefer to focus my criticism on the truly harmful, rather than on efforts to mitigate a pandemic. This is for the same reason that I am much more strident in my criticism of corporate subsidies or regulation-created cartels than I am of food stamps, for example.
Save your vitriol for ICE, the IRS, the DEA, prison guard unions and defense contractor lobbyists. Health workers trying to save lives by making vaccination as convenient as possible don't deserve it.