You can enter a special floating mode, or “god mode,” by performing the steps described below.
1. Save your game at a campfire. (This is so that you can leave god mode once you’re ready to resume playing the game normally.)
2. Head to the area where you want to float.
3. Look down at the ground and hold the Down button.
4. While still pressing Down, tap R1.
5. Let go of the Down button and press X.
Aloy will now be floating, allowing you to travel anywhere through the air using the left stick and even enter otherwise inaccessible areas. (Unfortunately, there is no vertical movement.) Any items you drop will also float.
To return to normal gameplay, open the Options menu and select “Restart from save” to return to the save you made at the campfire.