In Pulp Fiction, how did Butch manage to open the cab door with his boxing gloves on? Esmeralda was in the driver seat when he got in. He was still wearing his red boxing gloves.
In all seriousness, Butch clearly planned a quick getaway. Esmeralda may have left the door open for him or he climbed through the window. It is not a critical detail to the plot so I don't expect Quentin Tarantino lost any sleep over this.