Landed in an area where I cannot leave without falling to my death

I was in an area towards the top left of the screen in the screenshot, I wandered off down toward the bottom right of my screen from there, where I fell off a cliff that was covered by foreground objects, in a panic, I held my A button on my controller which caused me to jump and land where it is shown in the screenshot.

Map included in screenshot for reference of where it was located.

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