You didn't say what the approach surfacing into the garage is made of, but if it's gravel, the most logical approach would be to place additional compacted gravel to the approach, raising it to help eliminate the abrupt grade change at the bottom of the doors. If your approach is paved (concrete or asphalt), then your options may be quite limited.
I'd seriously consider trading in the 2 low-hanging vehicles and get a pickup or SUV with more ground clearance.
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