Nine-times Champion Rossi is coming off a disappointing 2013 season where he finished third in the standings behind Marc Marques, Jorge Lorenzo and Dani Pedrosa.
While his Yamaha team-mate Lorenzo won eight races despite battling injury midway through the season, the Italian's victory at Assen was his only one of the campaign. It has naturally led to question marks over his future not only at Yamaha, especially with his contract running out at the end of 2014, but also in MotoGP.
Doohan is confident Rossi can return to the front if he gets the right machinery, but he concede that the 34-year-old is probably no longer prepared to push himself too hard.
"He can't like not winning although the sport needs him and he has still got as many fans as ever. The sport will be a poorer place without him. I'm sure fourth is not good enough in Valentino's mind, but it is a hell of a lot better than where he was last year," Doohan told motorcyclenews.com.
"I think his experience is against him in terms of how far he is prepared to push himself and how long he wants to stay in the sport. But you never doubt Valentino. I have no doubt if they could get the bike to exactly his liking he could push more but he knows if he pushes any further he will go down the road.
"Valentino's experience though may mean he is not prepared to push as hard as those top three guys. They are still in the 'want and need' part of their careers rather than in the 'it would be great to do that again' part of their careers."
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