If I stumble into an enemy outpost and then leave, can I come back later for the undetected bonus?

I accidentally stumbled into an enemy outpost while gliding. They spotted me and summoned reinforcements. I bailed and they lost track of me.

If I go back later to clear that outpost for a Path Of The Hunter mission, will I be able to get the undetected bonus, or do the guards always remember that they detected me once they've seen me?


Solution 1:

Just tried this out for you and yes, you can go back and get the undetected bonus.