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There is a Legacy version here.

PFS StandardAnticipate Ambush Feat 6

Exploration Rogue 
Source Player Core pg. 172
Prerequisites expert in Stealth

You keep watch for any hidden creatures or dangerous sites, moving at half your travel Speed. If you’re Anticipating an Ambush at the start of an encounter, you roll a Perception check for initiative, and all enemies rolling Stealth for initiative take a –2 circumstance penalty to their Stealth checks.

Traits

Exploration:

An activity with this trait takes more than a turn to use, and can usually be used only during exploration mode.