1) press up to retract Grapple, pulling Samus as far out of the wall or door as far as possible,
2) hold a directional input away from the door or wall,
3) release Grapple while continuing to hold away from the door or wall,
4) if X-Ray is available, crouch and X-Ray climb until high enough to walk out of the door or wall,
5) or if Morph is available, turnaround spin-jump (in either direction), then morph and roll out.
See also: Tech Page