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There is a Legacy version here.

PFS StandardWarden's Step Feat 12*

Ranger 
Source Player Core pg. 161 2.0
Archetype Horizon Walker
Prerequisites master in Stealth
* This version of the Warden's Step feat is intended for use with an Archetype and has a different level for access than the original feat.

You can guide your allies to move quietly through the wilderness. When you Avoid Notice during exploration in natural terrain, you can designate any number of your allies to gain the benefits as if they were using that activity during that exploration. This requires no action on their part

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.