While exploring the Endless Gate on Io I found a scan point that was pointing into a rock. After looking around for a while I ended up breaking out of the map by jumping on a small overhang a bit further up and using that to get to a ledge above the room. After some glitchy jumping on the wrong side of the rock walls I managed to get to the scan point, which was in fact inside the rock and not in any sort of secret room, there was no proper terrain there either. There's another map break possible at the far end where the actual gate is, you can jump over the rails around it and walk through the back wall which has no collision.