I'm trying to chew over an interesting way to play this out! It might be best to handwave, but then I just see that as a challenge not to... Hmm.

Maybe something like Kim having a wireless earbud he can communicate remotely with Ydris through? And relay information of what he's scoping out in the underground up to them to take full record of-? Ydris could be on hand to advise him with navigation info he needs to tail someone or... escape from someone who spots him spying!