In the world I'm working on (tm), flying in the air without the permission of the local air spirits is stupid, because they'll knock you out of the sky.
In one area of the world, a civilization has made deals with the local air spirits. They have floating islands in the sky and a ground nomad civilization. Access to the cloud kingdom is via pyramids on the ground (as part of the treaty).
This is where the Aarakocra live.
In my fantasy physics, Down is a real directly, and the Element of Earth pulls things Down (mostly stuff that is Above it). Get far enough from the Element of Earth, and you stop falling.
So once in the cloud kingdoms, "falling off" results in floating in the middle of the air and drifting with the wind, not a meteoric fall to the ground.
The wood in airships provides enough elemental Earth to provide a local down; so you can stand on the top of ships, fall off the side, and have to hold onto the bottom.
Non-flying humanoids use contraptions to flap themselves between islands, including to air-farms floating in the sky.