The Cobb Dev channel shared an awesome tutorial on how you can recreate the climbing mechanic from The Legend of Zelda: Breath of the Wild using Unreal Engine. Here are all the nodes you need inside the engine.
First, please note that this tutorial features advanced stuff so please don't rush in if you're just getting started. The final result is the ability to climb horizontally and vertically, climb around sharp edges that are predefined by a specific value. You will also be able to climb angled walls, plus you can potentially set up stamina to define the time you can take to climb a given wall.
Here's the final result:
