get the climbers cap in one of the early shrines. it speeds up climbing when worn. I have zero stamina upgrades and can climb almost anything. theres also different techniques to reset the stam bar. like the first thing i did was climb one of the huge ganon pillars and glide into hyrule castle for end game weapons and bows to start of the game. the climb took a while but i got the hang of it and now can do it blindfolded.