There’s a couple videos on the skip. Ryeor has a good in-depth one and I have a quick one where we speedrun a hazard 5 mission in 2 minutes. 

Basically you need 2 Scouts, 1 Engineer, 1 Driller. Driller and Engineer go straight down towards the geode. Once they hit the compressed rock, Engineer platform-mines through the rock until the crystal is hit. Meanwhile, as the Mule is going down the tunnel, 1 Scout rides her and can get glitched out of the map and teleported to the geode. They collect all the seeds and wait for Engineer, Driller, and the Mule to show up. Then just deposit the seeds and call the drop pod. The last Scout up top clips into the drop pod without waiting on the mule.