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. If Golden Torizo is alive, the fight will be triggered but does not create any risk of damage.

Entrance condition:

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

Requires:

"canXRayClimb"
{
  "heatFrames": 1600
}

Bypasses door shell: true