I'm pretty new to this game myself so fair warning some of the stuff I say here could be inaccurate in one way or another. but I'm 100% sure you can get some use out of this guide regardless.

by sliding down a slope/slanted object when you hit the ground, no matter what height you're at, it will negate the fall damage, and turn it into speed. you can do this with pretty much anything slanted on the map, so if you're in a situation where there's no REAL slopes, its always worthwhile to give the ol' boulder a shot. this is the method I use the most when it comes to not breaking my bones on bare earth.

By moving into a wall as you're falling, you can negate the fall damage when you eventually hit the ground. before I wasn't sure whether or not it completely got rid of the fall damage or not, but I just tested it and it seems like this would work at any height. imo the best use for this is if there are no slants or slopes to slide on instead (like if there was a really big pitfall with nothing at the bottom). still a valid way to deal with fall damage. no harm in deepening your fall damage negation bag lol.

no matter how little shield you have, it will negate all damage that goes past its max shield hp. this means even if you take 100 damage, as long as you have a tiny bit of shield, the shield will tank that hit for you leaving your red hp unscathed. this can be used to negate fall damage of course, although that is not it's most useful application. taking the "+5 shield™" upgrade from the charge shrine will never not be worth it, and it can save you from that fall damage if you miss a slide/wall hug.

was unsure but now that I tested it, double jumping right before hitting the ground does actually negate fall damage. so if you have at least one extra jump upgrade that should be able to help you out among the other methods.

If theres any inaccurate info here feel free to let me know so I can change it (if that's possible, this is my first steam guide I have literally no idea) (edit: I found out).