So I found that very sneaky path through the 3 trees to the left to get the chest on the lower left where you first enter the outside area..
But there is the only place it goes.
I'm still missing a way down to the Waypoints 1-3. I'm guessing they are in another part of the tower, but how to get there...
I can't find another place outside. I tried bumping into all the walls that could lead to the left so I can get to that lower part of the tower that I can sort of see when standing at the upper door.
But no dice... more hint?