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remember the pathway you took going there the first time? after jumping the Soul Bridge then a long canyon path? well, at the end are 2 Chain Grapple points. swing across them and through the webbed door. to get back up, hit the floating obelisk with your Cross Blade and Chain grapple the orange point underneath it. and it'll elevate you back up there. :note: on the middle floor of that first area is a soul chest and artifact