How do I Make an automatic ledge grab?

I want to make a ledge grab (I have done this before by using sprites) but I want to make a ledge grab that does not use sprites, only code. I do not want to manually place all of the ledge grab sprites

How are your levels set up? Are you using tilemaps? I have a setup whereby I have a collision tilemap underneath everything, when I place a specified tile on there it spawns a ledge grab sprite for each of these tiles at that index at the start of layout. There's probably a way to do it just using the tilemaps and checking the index and overlap rather than spawning an additional sprite, but how you set it up depends on how your game is set up and what the needs are.

I do use a separate tilemap for my collisions, I just need the code to make it place the ledge grab sprite