It’s a matter of physics.
As Tails, launch upwards and VERY QUICKLY press jump to start the flying state. Do NOT press more of the jump button after doing this: when the flight state is triggered after getting launched, you’ll boost upwards with decent speed (Just note that this depends on the direction you launched yourself. In this case we’re trying to go up). This fast height boost will last just enough to traverse at least half of the road you’re going on, which will spare you time. When to you it looks like the gravity is about to pull you back down, start flying like you normally would and nab that emblem before Tails gets tired.
Yes, I suck explaining things. Don’t blame you if you didn’t understand.