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There is a Legacy version here.

PFS StandardUnderhanded Assault [two-actions] Feat 2

Rogue 
Source Player Core pg. 171 2.0
Archetype Red Mantis Assassin*
Prerequisites trained in Stealth
* This archetype offers Underhanded Assault at a different level than displayed here.

You capitalize on the distraction provided by an ally. You Sneak up to a foe adjacent to one of your allies. You can roll against the foe you’re Sneaking up on, even if it’s currently observing you, as though you were hidden. You take a –2 penalty on your Stealth check. If your Stealth check against the chosen foe succeeds, you can make a melee Strike against that foe at the end of your Sneak.

Archetype Use

This feat can be used for one or more Archetypes in addition to the listed Classes. When selected this way, the feat is not considered to have its class traits.