At the point in the stronghold just before Urias when you have to squeeze through the gap and shimmy your way across, if you move forwards at the right time you can cancel the kinda "cooldown" and immediately shimmy again. So basically move left,up,left,up etc.

I havent tested it at all so im not sure how long it saves but i imagine a good 10 seconds?

I also am on console so im not too sure if it will work on Kb&M. Someone will have to test. I dont have a clip as im about to sleep now, but I'll get one tomorrow if no one gets it.

Not sure if anyone has posted this yet but when you pull the switch to bring up the first little walkway, you can reset and the walkway is fully up, will probably save around 2 seconds. Sorry if i explained that bad or if anyone has already posted but just thought i would share.

Talking about the Blue, Orange & Yellow walkways*