Almys is an Adventurer! He's sneaked! He's just not sneaking right this minute. Not even to spring it on his liege later as a surprise, it just hasn't particularly occurred to him to do that.
He'll head unstealthily up the rope, then! Right now he is mostly practicing kinesic awareness absent vision of all his body part. The problem isn't so much that he lacks kinesic cues, it's that his vision is constantly telling him that his limbs aren't where he expects them to be. Learning to ignore the constant error interrupts and wrong corrections is not instantaneous.