Sparrow if you keep heading down the line of pillars in your last pic then hop right at the one that juts out slightly and immediately turn back into the center and jump you can hop up there. I went to take a screenshot when I made it up and scrolled out too far, reset myself back to the bottom and was too angry to get back up. The way I'm getting up is from this point:

Carefully jump up from here, catching this edge can be temperamental:

Then up the left and on the left side of this part and up, you'll be above the den:

To actually get to the center, skirt around the top of the cliff towards the back of the den and jump down before the open space (which is all wall blocked).
All that said, I'm off to see if there's any access points to the top around the mage cave I didn't notice. In theory, the puzzle piece could be resting over the back of it on the guide and it could be bugged from there?