We have had countless outdoor cats over the years. The yard is full of 80+ foot tall trees. Almost every day, you would see a couple in a few different trees for what ever reason. A few would sleep in the tree at night, and come down in the day to eat. Others would be up in the trees looking for birds. Sometimes you would see five or six in one tree.
In the past 30 some years, I would have to say that we have had ZERO cats we have had to rescue out of the trees.
They can be 60 feet up in the tree and they will be at the base before you make it there, if they want to greet you. If they dont come down, then they evidently dont want to.
We've had one of our cats up a 20' tree after being chased by a dog, but finally had to get our gardener with one of those extra long ladders climb up and get him.