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There is no issue with saving on this game so something has probably been corrupted somehow.
If I was you I would scan for malware or virus, malwarebytes is a good software for that and you can get it for free (trial version).
PS: Ohh I see, the message "there is insufficient storage available. please free 55kb and try again" sounds to me like your Steam Cloud is full not your HD! SO when steam is trying to sync the cloud after you exit the game is failing.
Maybe they can try just disabling cloud support for this game then.
In properties go to updates, at the bottom uncheck the option "Enable Steam Cloud sync for DOOM"
Then play and see if you still get the error message.