Do doors add structural support to the body? The answer is yes and no depending on the context.
If you are going down the highway and are involved in a rollover accident, the doors do provide support as the cab will be likely be crushed more without doors.
But as far as body flex goes no they do not provide support, or more correctly they should not provide structural support to the body. The engineers that designed your jeep never intended the doors to act as bumpstops for body flex. Then again, when the XJ was first designed they had no idea that we would be doing the type of rockcrawling and extreme offroad driving that we do today. The fact that the body flexes to the point that the latch puts pressure on the striker is in no way a good thing for the body or the doors. Based on this reasoning taking the doors off cannot be blamed for causing damage to the vehicle because of increased body flex. The body flex is a separate problem and should be addressed regardless if you take the doors off or not.