This is a chapter specific trophy available in R-05, whilst you may be worried about this because of your times for some previous missions, this one is much shorter and can be comfortably done in 7 minutes on Normal/Hard, during one of my playthrough on Revengeance difficulty I had a time of approximately 5 minutes. What is key to saving a lot of time will be knowing what to skip.
At the beginning of the mission you'll be forced into a very easy battle, when you finish this off run right for the next part of the mission (because Gekkos will spawn otherwise if you're slow and if spotted you'll have to fight them), after that you'll have a fight with a few RPG dudes and a Heavy, run towards where the RPG guys are to get them to drop down so you can kill them then deal with the Heavy. Once you reach Dwarf Gekkos just fight everything there, it shouldn't take too long and is quicker than a stealth alternative. Afterwards you'll approach the Civilian with a GRAD and some Cyborgs, you can avoid this battle completely with a Cardboard box tight along the left set of stairs, the final section will have a Mastiff which you can avoid or fight, if you run through quick enough you can actually miss it completely but if it is within the area you will want to wait until it turns around, but it's also easy to kill it with Ripper Mode since you most likely have full energy here.