If I understand correctly: You are trying to jump off the stairs and kind of regrab them at the same time?
Give the player a CD timer for one of the states.
Essentially just a boolean that says canStairs = true. Add canStairs = true to the Condition to start climbing stair. When you exit stairs - by jumping or however set it to false.
Create a condition where if canStairs = false - wait 0.3s (or whatever time works) then set it true again.