The Earth magnetopause, when sufficiently plane and stationary at a local scale, can be considered as a ‘quasi-tangential’ discontinuity, since the normal component of the magnetic field $B_n$ is typically very small but not zero. Contrary to observations, the ‘classic theory of discontinuities’ predicts that rotational and compressional jumps should be mutually exclusive in the general case $B_n \ne 0$, but allows only one exception: the tangential discontinuity provided that $B_n$ is strictly zero. Here we show that finite Larmor radius (FLR) effects play an important role in the quasi-tangential case, whenever the ion Larmor radius is not fully negligible with respect to the magnetopause thickness. By including FLR effects, the results suggest that a rotational discontinuity undergoes a change comparable to the change of a shear Alfvén into a kinetic Alfvén wave when considering linear modes. For this new kind of discontinuity, the co-existence of rotational and compressional variations at the magnetopause does no more imply that this boundary is a strict tangential discontinuity, even in one-dimensional (1-D)-like regions far from X lines if any. This result may lead to important consequences concerning the oldest and most basic questions of magnetospheric physics: how can the magnetopause be open, where and when? While the role of FLR is established theoretically, in this paper we show that it can be proved experimentally. For this, we make use of magnetospheric multiscale mission (MMS) data and process them with the most recent available four spacecraft tools. First, we present the different processing techniques that we use to estimate spatial derivatives, such as $grad(B)$ and $div(P)$, and the magnetopause normal direction. We point out why this normal direction must be determined with extremely high accuracy to make the conclusions unambiguous. Then, the results obtained by these techniques are presented in a detailed case study and on a statistical basis.