The only solution to this is doing it so often you stop caring. There are only so many ways to get back on and they all feel awkward to me. And I've done it a lot.
Back in high school I was on the too-small dance committee so I spent many hours on a tall scaffold (Which we removed the safety rails from because they were taller than the gym's girders and working around that slowed us down; we had a firm NO f***ING AROUND rule with only two people up at a time and never left the center. Looking back we were out of our lunatic minds), and getting down was easily the hardest part. We really should have had a harness. Seniors all wanted to write their names on the gym ceiling/girders. I probably could have made a lot of money doing it for them, but if they asked I just did it. A tiny number of guys came up and successfully did it themselves. The troubling group was the pool of macho dudes who had to act tough, and therefore didn't have the wisdom to ask us to do it. They'd climb up, get up top, and freeze. Some of them would manage to crouch and scribble something out. None of them were able to get back on the ladder. Not one. We had to break our Rule of Two several times to safely get those guys back on the ladder. We warned all of them that the scaffold crew had built up to being up there over months or years and that the first time can be terrifying, but nooooo they were too badass for all that.
At least I got to see every cocky fake-badass in my class melt down. I wasn't a dick about it and didn't tell anyone else, it's not a fun thing to go through...but that's still satisfying on some primal level.
