Here is a self-contained proof. Suppose $n=2m+1$, and the number of configurations (including the state of the machine and the work tapes but NOT the input tape) is smaller then $m$. Refuting this implies that the space is at least $\Omega(\log n)$.
Consider the input $0^m1^m0$. Assume that the head starts at the first cell (position $0$), and moves by at most one cell each time. We divide the execution sequence into stages, cut at every time the head moves across position $m-1\mid m$ or $2m-1\mid 2m$ (i.e. the input symbol it points at changes between $0$ and $1$). We only care about stages that start with $m-1\rightarrow m$ and end with $2m-1\rightarrow 2m$, or the other way around, that start with $2m\rightarrow2m-1$ and end with $m\rightarrow m-1$.
Take a such stage between time $[t,t')$, where the head at time $t$ goes from $m-1$ to $m$ and at time $t'$ goes from $2m-1$ to $2m$. For each $i\in[m,2m)$, let $t_i\in[t,t')$ be the first time the head moves to position $i$. By pigeonhole's principle, there must be $i<j$ such that the configurations at time $t_i$ and $t_j$ are the same. For each such stage we record the number $j-i$, and let $L$ be a common multiple of these $j-i$.
Now we claim that on input $0^m1^{m+L}0$, the machine halts with the same configuration as on input $0^m1^m0$. This can be proved by induction over the stages and the steps, and can be seen from the following illustration (the blue lines indicate the movement of the head on the input tape, and the purple dots indicate the same configuration):
The reason that the execution sequence between the two purples dots ($t_i$ and $t_j$) is repeated, is because the input symbol is always $1$.
On the other hand, $\mathsf{MAJ}(0^m1^m0)=0$ while $\mathsf{MAJ}(0^m1^{m+L}0)=1$ for $L>1$, leading to a contradiction.