A little comparison of possible ways to get around the area prior to Orion and Erin.

Two ways on the left side require you lock-picking the 4-pin door, with 2 different ways of reaching it.

One on top right needs you to setup a rope first, but you don't have to rush it, because guard in the room on the right is blocking you from lock-picking 3-pin door, so there is no rush when aiming that rope.

Bottom right one - the fastest - requires a Wirecutter. You have to be careful when dropping down on the guard, because if you are too fast you may land on his head, which will alert him when you will try to reach wire-cutting box.