Okay, let me try to compartmentalize this train-of-thought a bit.
I presume that the top of that cliff is explorable.
There's a staircase on the cliff-face. Which leads me to think that players can travel up the staircase, and on the grassy part that cliff. This is, partly, the reason why I don't think you should use the auto-tile on that cliff-top at all. It's set to be a solid object, and setting it to be a passable object would lead to a result you don't want. Such as being able to get on that cliff without the staircase! To delve deeper...
So, what I would recommend is not to mess with the auto-tile, but, use the cliff tiles at the bottom portion of the "A" tab for this.
...let's recognize that there are two sets of "cliff" tiles in the "A" tab within the "Exterior" tileset. The evidence of this screenshot suggests that you're using the first set of "cliff" tiles, which are auto-tiles. The second set is not an auto-tile, whose passibilities you would need to set. Which is what I was trying to say...
Though, if you do that, you'd have to make sure that the passibilities of the rock-edges are blocked from the right angles.
...with that comment. To simplify, there's a button labeled "Passage (4 dir)". Note how auto-tiles don't have any options under this mode! With the non-auto-tiles, however, you can select which edges are solid, and which are passable.
*Edit: Darigaaz, cliffs!
The link leads to an image that is
supposed to be an example of what I'm talking about, but, I guess it doesn't necessarily relay the "how" of it.
So,
um, does that help?