Here goes my solution:
Suppose that $S$ does not contain any interval of the form $(-\infty,A)\times \{0\}$. Since $S\cap \left( \mathbb{R} \times \{0\} \right)$ is semialgebraic, it is a union of intervals $S\cap \left( \mathbb{R} \times \{0\}\right) = \cup_{i=1}^s I_i$, where each $I_i$ cannot be of the form $(-\infty,A)$ or $(-\infty,A]$ by hypothesis. Therefore, there exists a constant $A<0$ such that $(x,0)\notin S, \forall x <A$. We now fix $A'<A$ and consider the following functions:
$f,g:(-\infty,A'] \rightarrow \mathbb{R}$, defined as $f(x) = d\left( (x,0),S \right)$ and $g(x) = \frac{1}{|x|}$, respectively. It is clear that $f$ and $g$ are continuous and semialgebraic functions, and they don't cancel in $(-\infty,A']$. Furthermore, for each $B>0$, the set $\{x\in (-\infty,A']: |g(x)| \geq 1/B\} = (-\infty,A'] \cap [-B,B]$ is compact. (The hypothesis $K$ compact in Lojasiewicz inequality can be replaced by this weaker hypothesis, and the inequality remains true by the same proof)
Then, by Lojasiewicz inequality, there exist a natural number $N\in\mathbb{N}$ ($N\geq 1$) and a constant $C\geq 0$ such that $|g(x)|^N \leq C \cdot |f(x)|$ for all $x \in (-\infty,A']$, i.e., $|x|^{-N} \leq C \cdot d\left( (x,0),S \right)$ for all $x \leq A'$.
Since $S$ contains the graph of the exponential funciton, then $d \left( (x,0),S \right) \leq d\left( (x,0), \Gamma(exp) \right) \leq e^x$, so $|x|^{-N} \leq C\cdot e^x$ whenever $x\leq A'$. But this leads to a contradiction when $x\to -\infty$ since exponential funciton decreases more rapidly than any function of the form $|x|^{-N}$ when $x\to -\infty$.