The Hooked mod provides several different grappling hooks to help traverse high or out of reach places with the press of a key (C by default). It requires the Baubles mod found here in order to work. So just equip a hook there and be off! The most basic hook is the wood hook. It’s simple and great for early in the game if you don’t have too many materials yet and need to get somewhere quickly or escape an enemy.
The iron hook allows you to fire two hooks between two points to float between them. Great for scaling a canyon or even observing your work from an aerial view. Holding shift while pressing C and aiming at one of the hooks will release that one so you can get back to solid ground safely.
The diamond hook is a bit faster and also allows you to use four hooks at once.