Exit the previous room with Samus in a standing pose (while grappled). After teleporting, press right to release Grapple while staying standing (not being forced into a crouch). Then X-ray climb to get up to the door transition, without needing to open the door. Samus will not be visible during the climb.

Entrance condition:

{
  "comeInWithGrappleTeleport": {
    "blockPositions": [
      [
        2,
        18
      ],
      [
        2,
        19
      ],
      [
        2,
        28
      ],
      [
        2,
        29
      ]
    ]
  }
}

Requires:

"canXRayClimb"

Bypasses door shell: true