Falls from 5-9 stories are pretty dangerous for cats and will likely require a visit to the vet due to broken limbs or serious injuries. Cats reach terminal velocity at 21m after which they continue to spread out like a flying squirrel and relax. A cat's terminal velocity is only 60mph compared to a human's nearly 120mph. A 1987 study from The Journal of the American Vetrinary Medical Association did some research into this. 132 cats falling an average of 5.5 stories led to a 90% survival rate, but many required medical attention. That same study says that of the 13 cats that fell from 9 stories or higher, only 1 broke a bone. Same study references the 32 story fall.

Now, part of this is that they have what is called a "righting reflex" which allows them to pivot their bodies so that they always land on their legs. They have no connection between their collarbone and forelimbs which means they have amazing shock absorption.

Their low terminal velocity, the reflex to right themselves, and skeletal anatomy makes them incredibly resilient to high falls. Shorter falls are actually more dangerous as they might land incorrectly or not have time to right themselves before impact.

Personally, I like the theory that a precursor race of humans lived on mars and then fucked it up with climate change/nuclear war. They had already terraformed earth so they moved here and started living in more nomadic ways to try and prevent us from becoming as technologically advanced as them and making the same mistakes.