I also had trouble climbing the first few steps, even as I grabbed at the wall, switched worm heads, I felt like I couldn't get up enough to make it over? I eventually made it over a few steps, but it was tough. It reminds me a lot of of "Heave Ho," which has a similar style but you don't switch heads - you have left and right grabbers, and then your movement pivots around whichever hand is currently grabbing. If you have other movement tips, please reply and I'll try again!
If you hold W and D at the same time, your head won't go up as far. When you're making that first grab, you want to make sure your head is as high up as possible
This is me holding just W as I go toward the wall
This is me holding W and D
if you're holding the top you can clear it just by moving your other head over
This reply kind of got formatted weird but I hope you understand lol