Word about Ghus Dark's 2 sec saver trick (using dodge R to add some distance to the bridge jump) inspired me to post this. I wrote up this following walkthrough over a year ago and never got it to work, so I discarded it.
The downside to the idea of pulling forward at the end is that the movement is not fast enough nor that precise. But perhaps using dodge with R could eliminate this problem since the motion is instantenous?
If it can work, it would eliminate the 10 seconds required to place the Falcon 2 on the altar to gain access to the inner sanctum on SA and PA.
The only question: Can we fall far enough to reach the altar and still be able to climb back up?
START:
With the Falcon 2 in hand, stand in the position shown below where the crosshair is parallel to the front side of the altar while as close to the right wall near the door as possible:
Then move the crosshair very slightly to the right so that you are now at an angle with the altar. The hidden event panel that is underneath the altar requires that you are at this angle.
Then take 1 small step backwards so you begin to fall, then quickly pull forward while tapping B to place the Falcon 2 and end up back on the walkway (effect is that of a GE ladder teleport).
Theory is that the thicker the walkway is, the farther you can fall and still climb back up. The rationale for standing close to the wall is exhibited below, where the walkway gets thicker as it approaches the wall (and is thinner elsewhere):
