If I stumble into an enethe outpost and then leave, can I come back later for the undetected bonus

I accidentally stumbled into an enemy outpost while gliding. They spotted me and summoned reinforcements. I bailed and they lost track of me.

If I go back later to clear that outpost for a Path Of The Hunter mission, will I be able to get the undetected bonus, or do the guards always remember that they detected me once they've seen me?