Yeah that was the platform I originally used to get onto the place you're on right now. I'm not sure how to get out from there without it unless you can teleport to one of the shrines you already completed. Unless you have zonai devices and can use the wings to float down.The moving platform at the right just above the minimap is the only one I see from this area, and it's too far away for me to be able to use ultrahand on
tbh it might just be easier to use one of the moonjump cheats to get out of the area even if you're going through a vanilla playthrough