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I'll chime in, supporting the swing gate idea. We have the Safety First swing gate -- looks like that very model BoR shows, and it's been marvelous. Not difficult to remove from the hinges when moving larger objects through the doorway (like a desk, or a body). Another bonus of that model is that there's nothing mounted to the floor, which can be a pain.
For doorways you don't mind hopping over, the pressure mounted ones are fine to leave in. At the bottom / top of stairs, I'd stick with the swing variety.
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