It's night.
Park the truck in the far SW corner of the compound (all this on Extreme/Tier BTW). Turn around to the east and along the south wall couch/crawl into the large building. If the collectible is still there, go up and grab it.
One option now is to go to the roof and base jump is you're comfortable doing that. If not, back to the ground floor
From the ground floor, crawl out the east opening and stay all the way to your right, then crouch and move towards that same south wall. Move along the wall over the boxes until near the arc of the searchlight. Crawl when safe and stop past the lights' sweep. Wait until the roving guard leaves his position near the open doorway. As he leaves crawl to and out the doorway, then immediately turn right (to the south) to get out of any possible LOS and head to the parked vehicle.
Drive away.
Simply put, going prone is your best friend in Wildlands when it comes to reducing greatly your chances of being detected. Combine it with moving, in relationship to the roving guards, and it's done rather quickly.
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