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If you just wanted to determine which one tells the truth and which lies, you would ask: "If I were to ask the other guard whether you always tell the truth, what would he say?" A reply of "no" means you are talking to the truth teller, a reply of "yes" means you are talking to the liar. So since you only have one question to select the right door, you would have to ask "If I were to ask the other guard, which door would he say leads to freedom?" You would then select the door opposite to the one he picked.
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