Full version of the video I posted last night.
I was able to get there thanks to being a Titan. I was looking up at that platform above the broken portal because it looks like you can jump out of that wall I was shooting at onto it (after Atheon to get to the portal).. I was just looking for other places to get to.
We had a clean run from the Gatekeepers into Atheon, obviously.
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Any ideas?