Well, Hallie could've gone up into the King's Storeroom, but I assume she thought it would take too much time to scale the wall and went thru the Tomb of the Headless Kings door which was right there. But if she'd gone up into the King's Storeroom she would've been taken out there instead, but her partner Jared could've gone across the rest of the top floor and gotten to the Dark Forest. They certainly would've had enough time to get to the Useless Map.
Thou what I wanna know is if they could've taken a different path in The Pendant of King Kamehameha? the only other episode in which a team with only one Pendant of Life meets all three Temple Guards. The Guards in that one were pretty hard to avoid.