Exit the previous room with Samus in a standing pose (while grappled). After teleporting, hold left while releasing Grapple to stay standing (not being forced into a crouch). Then jump to clip out of the floor.

Entrance condition:

{
  "comeInWithGrappleTeleport": {
    "blockPositions": [
      [
        12,
        12
      ]
    ]
  }
}

Requires:

{
  "notable": "Grapple Teleport Clip"
}

Dev note: This requires a setup from the highest possible Grapple block in Halfie Climb, in order to end up high enough to clip out without X-Ray.