Me thinks "get off" has its origin in "get down (the steps) off (of the X)", in the same way that "get on" has its origins in "get (up) on(to the X)"
Before buses, there were carriages (not that I'd know that from personal experience

), the
steps of which people had to "get up onto" and "get down off of".
To my knowledge, speakers, albeit traditional users, do in fact say, "Can I get down here?" , "Can you let me down here?"
Cas :)