Well done for getting him down OP.
Funny you should ask this now. I was at a cat in tree rescue on Friday as it happens. The cat had been there for at least six days already. The people who noticed him had rigged up a bowl attached to a very long pole, which they had been using, together with a long ladder, to feed him.
Both the fire service and the RSPCA had attended, and both gave up. The problem was that if anyone approached him he went further and further up the tree. So while it may be possible for anyone with a long ladder to fetch down a very compliant cat, that just won't work for anything nervous. And of course you need to be both good at climbing ladders and at scruffing a cat and getting into a carrier (it would have to be a top loader), and then negotiating down the ladder again with the cat. Not many people are experienced enough to be able to scruff, secure and stuff (in a carrier) a nervous cat, and anyone who isn't totally confident about doing that risks more harm than good.
In this case that wouldn't have worked anyway as the cat just went further and further up. It always came back down again as far as the main V of the tree, but it made it impossible to try to get it and of course the cat risked falling from the flimsier upper branches.
So we rigged up a very long ladder, covered with something to make it 'solid'. Even that wasn't long enough though so I had to park my car on the pavement and put the bottom of the ladder in the boot of my car to make it higher as you can see in the photo.
Then it was just a question of waiting. The cat was definitely thinking about it but needed a bit more prompting. But it was getting late, and the people whose house it was outside wanted to go to sleep, and we couldn't really leave the ladder there unattended, so we decided to try again the next day (yesterday) and the people were told not to feed it as we needed it to be hungry. The people stored the ladder in their house and they said they would be out in the morning but would contact me when they returned so we could try again.
But they didn't go out. They put the ladder up when I wasn't there. Someone on the street decided to have a go at climbing the ladder and grabbing the cat. Even though we had discussed that that would be a very bad idea the people didn't stop him. The man tried to make a grab for the cat, which ran into the top branches, and fell to the ground.
Luckily he got away with only a fractured jaw. He could easily have died. And I was quietly furious.
So the answer to the question is - it all depends, but if a cat is nervous then rigging something up to enable the cat to get down by itself is always going to be the safest option for all concerned. And the moral is never let 'have a go heroes', with no experience with cats, anywhere near the scene, unless the cat is very, very friendly and compliant.