No they did not. 2002 was the first year Saleen did anything with the doors including the painted inserts and S281 carpet insert. This is of course excluding the 87-89 fox body cars.
Did you look at my link above??? Recaro Trend is as close as you are going to get. You can haggle a bit with Seatsource also. Any good upholstry guy can remove the center section of the seat and embroider anything you want in it. Even hooters.
Roberts seats are sold.