Our cat twenty years ago climbed up a Douglas Fir about 80 feet, then yowled at us from there. I've seen dozens of cats work their way down trunks like that, so I told the wife to ignore her, she'll come down when she's ready. Two hours later, I didn't like hearing a huge 'thump' in the back yard, but 30 seconds later, 'meyow' at the back door. She was fine. No signs of damage ever afterward. (but never went up that tree again.)
I love my cats, hate to see them receive pain, but on this planet, if an animal can climb up something natural like a tree, mostly likely, they have a biological plan to survive it.
Now, I always go out and try and talk them down. Surprisingly, it often works.