Yes it is possible. Just pause and quick save often! If you are looking head on, i found it easiest to approach from the right under the wooden spar that's sticking out of the ground, approach from that side towards the rock to get the guardian interested. Then try and draw it out to the left slightly. As soon as it's out level with almost the front of the rock, you can double back again under the spar and run in and grab the map. Grab the loot chest first otherwise there isn't enough room to snatch the map and turn around without getting busted!
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