During the past century, biologists and mathematicians investigated two mechanisms underlying bacteria motion: the run phase during which bacteria move in straight lines and the tumble phase in which they change their orientation. When surrounded by a chemical attractant, experiments show that bacteria increase their run time as moving up concentration gradients, leading to a biased random walk towards favorable regions. This observation raises the following question, which has drawn intense interest from both biological and mathematical communities: what cellular mechanisms enable bacteria to feel concentration gradients ? In this article, we investigate an asymptotic regime that was proposed to explain this ability thanks to internal mechanisms. More precisely, we derive the run-and-tumble kinetic equation with concentration's gradient dependent tumbling rate from a more comprehensive model, which incorporates internal cellular mechanisms. Our result improves on previous investigations, as we obtain strong convergence towards the gradient dependent kinetic model with quantitative and formally optimal convergence rates. The main ingredient consists in identifying a set of coordinates for the internal cellular dynamics in which concentration gradients arise explicitly. Then, we use relative entropy methods in order to capture quantitative measurement of the distance between the model incorporating cellular mechanisms and the one with concentration gradient dependent tumbling rate.