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To get this here maneuver right is by getting some speed, so your worm can go upside down. This is mainly accomplished by shortening the rope while you're falling. Bouncing off another piece of land (like I did in the GIF) usually helps save time, so it's advised. However, as you go up, it's possible that you get too much speed (it's usually the case in fact). Now, at exactly the right timing, make your rope longer, so you'll slow down, avoiding bouncing off the wall and falling back again. The rest is easier than pressing space.
Another handy trick to save time