Tackling Verticality in Combat

First things first, I’m a new GM to this system so my understanding of rules is loose at best. I may be missing something obvious but that’s exactly why I’m coming here to ask.

One of the biggest problems for me and my players when switching to this system has been tackling vertical mobility in combat. When I say this, I mean climbing up ledges, walls, and anything along those lines. We tend to enjoy maps that have a variety of interesting interactions and one of those is varied heights.

The big issue is that actions like Climb are unbelievably slow and impractical for combat. Yet for our melee martial, wasting multiple turns just for that seems to be the only option. That would usually be fine but it seems like there’s almost no solutions to this? Feats that provide vertical movement are either locked behind insanely high levels or barely provide anything. Like, you’d think something like a grappling hook would provide at least a statistical bonus to these climbing checks.

This all came to a boil when my players fought a flying monster recently. The session nearly had to be cancelled mid combat because our martial just couldn’t participate, and even those that could fly couldn’t reach (nor had the stats) to trip or grapple the creature to bring it down.

So, my question is if I’m missing an obvious ruling to make this easier? At this point I’m even open to homebrew solutions despite still learning the system. That’s all, PF2e has been amazing otherwise and a joy to learn.