After the teleport, immediately press down to extend Grapple to avoid bonking on the ceiling overhang; note that buffering the down input through the transition will not work. Then swing over to the door. Crumble jump in case the swing does not make it all the way to the door. Samus will be visible but off-camera; swinging back and forth to fix the camera is possible, at the cost of additional heat damage.

Entrance condition:

{
  "comeInWithGrappleTeleport": {
    "blockPositions": [
      [
        5,
        3
      ]
    ]
  }
}

Requires:

{
  "heatFrames": 120
}
{
  "or": [
    "canOffScreenMovement",
    {
      "heatFrames": 180
    }
  ]
}