Climb the rocks to the right of the drawbridge and jump to grab the dangling rope. Lara's weight pulls out the pin that was locking the bridge in place.
Let go of the rope and drop to the ground. Then quickly use the magnetic grapple to pull the drawbridge down before the pin drops back into place.
Alternately, while hanging from the rope, turn to face the closed drawbridge, climb up a bit (hold Interact and press Up to climb the rope), so Lara is roughly level with the top of the drawbridge. Start swinging.
Then jump to land on top of the drawbridge. Lara's weight will push it down.
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