Is Personal Fall Protection Required?

Location - MN Manufacturing/Office

Looking for some guidance! We have a platform at our work environment that is only used when we load things into our showroom. Since our showroom is used by clients and customers, we have this platform secured via locked doors and a gate to prevent entry on to the platform.

This platform has a guardrail system on it, however, the guardrail does open up, as we load pallets in to this area.

Question being - if an employee is standing on this platform when the gates are open, is fall protection (such as a pfas) required?

Thanks!