Ledges
Reach a ledge, close your grip and pull yourself up, then lean forward to step over the top. Rock faces, tree trunks and snowy ledges all give a hold.
TipHang from both hands to rest. When stamina runs out, a one-handed grip slips.
Ladders
A ladder is made for climbing: it tires you far less, and you can rest on it. Make one at the Sawmill table and set it against a wall.
Trees
Trunks are a way up, and the view from the canopy is worth the climb.