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 1 screen to get up to the door transition, without needing to open the door. Samus will not be visible during the climb. It is necessary to enter a horizontal position of 20 pixel or less, otherwise the climb will stop in the air pocket below the door.