Door emblem

View attachment 1715642164 Do these emblems just pop off? 70 Duster

The pins are set into a little metal piece. See pic below. Pull/push with enough pressure and it will pop out. Try to spread the force out over a large surface area.
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I can't really tell what condition yours is in. But, if you are sprucing up the interior maybe getting a couple new ones would be justified. A little Christmas present to yourself. $32.99

1970-1972 Plymouth Duster Parts | 3499375 | 1970-72 Plymouth; Duster Emblem; For Interior Door Panel; Each | Classic Industries