No special access issues
You can walk from Telendos harbour or take the boat for Irox. From Telendos harbour, follow the path left around the island in the direction of Irox and turn left and up for the obvious path to the chapel of St Konstantinos towards the obvious crag. The chapel is another 15 minutes walk further on. From Irox take the path up and left in the direction of Eros crag but continue around the headland. The the branch that heads right once past the headland which will bring you to the crag.
Take the boat from Myrties for Telendos harbour. You can park at Myrties.