DOORS 9.6 will work with RQM 6.0.1
One answer
Go to https://jazz.net/wiki/bin/view/Deployment/CLMSystemRequirements601
Under CLM System Requirements by Component select RQM
From the Detailed System Requirements page select the Supported Software tab
Scroll down to the Requirements Management table:
There you will see a list of supported versions of DOORS (9.6 is supported )