If you have V17 Deluxe or one of the Pro editions, there should be icons for Doors and Windows in the Architectural toolbar and its flyout on the Drawing Tools toolbar. If not, load your custom Workspace (if you have one). Otherwise, click on the "Default" button on the "Tools / Customizeâ€”â€ºOptions" page to reset all the tools to their default settings. That should bring them back. If you have V17 Designer, it doesn't have Doors or Windows.
Designer, Deluxe, (Professional, Expert, Basic), Platinum
Windows 10 Pro (1903), 64-bit