First, you have to play as Zane. When you are about to leave Pandora right before the cutscene where Lilith loses her powers, place a clone near her or just in the courtyard in general and run back to Ellie. Then swap to the clone right as you trigger the cutscene (as it's fading to black) and afterward it you will be in the main courtyard, skipping the fight and elevator sequence right before it. You can't die, however, cause you skipped the checkpoint so if you do you will end up having to do those two sequences anyways.

You can actually do it with anyone. If you park a vehichle out there, you can fast travel to the vehicle in the same manner.