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Watch some of Incursus' videos to see how you can build neat, stable forts:
https://www.youtube.com/channel/UCLt1h4r2RaDFc4J1fujvCGg
Objects don't actually have to fit completely inside a box. The strut you place them on must be FG (foreground) bracing which cannot overlap an object. But objects can overlap any amount of BG (background) bracing. So a tall object like an Armoury can be placed on one box and occupy the box above it as well. Placing will automatically convert FG to BG when it is possible, but FG currently holding up an object cannot be converted.
Instead of making a door by clicking on a node and making it as a single strut, it's much easier to drag-build (extrude) it. You can also convert an existing strut into a door by selecting the door material from the toolbar and then clicking on a node and dragging it to another node in the same way as building. You can also right click on a strut and convert it to another material. Zooming all the way in with the scroll wheel will help quite a bit with fine control for selections.