Ok little weird but after collecting boko shield and bow and shield surfing to cliff you do this little hop. It doesn't spend stamina and it allows you to use all your stamina to make on top of the cliff near stasis. I can't hit that mini little hop can y'all help me :)

From my experience you shouldn't need that little hop because once you have hopped up the wall three times there is a slope at the very top that you can whistle sprint on and make it the rest of the way up. Hope that helps!