Swing over the right to make it to the ledge. Avoid extending Grapple, to prevent being damaged by the Skulltera. You can wait for the camera to fix itself; continue swinging while waiting, to avoid damage.

Entrance condition:

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