Being invested enough to ask for a solution is unironically the single biggest compliment I have received yet! Actually, the "inchworm" interaction was absolutely intentional! In fact, that is part of the solution in the pictured image.
If you want more than that hint:
*Spoilers*
As hinted in the J button tutorial and used in the aforementioned 2 pillar inchworm tutorial, you "move" the box on the ledge onto the pillar, you can then expand it horizontally and vertically while standing on the pillar to have a "stairway" to reach the ledge!