No, but there shouldn't be anything to worry about. The only parts that actually touch the door are where the existing bolt holes are on the hinge and under the spare tire. It shouldn't be an issue at all.
As others have said, it doesn’t. I took mine off after having it on the Jeep for about 8 months. I’m not sure how to describe it, but it looks like a bit of residue left on the paint. I imagine a clay bar would take it off, but simple cleaning didn’t. If you’re putting this on, I’d recommend laying down a strip of paint protectant film first. Only a few bucks, and it’s preventative.