Is there a way to take less fall damage?
I find that the fall damage is insanely high (don't know if highest difficulty is even higher).
Is there something I can do to take less fall damage when either running, jumping or falling off of something?
Yes it is possible.
As can be read on this site :
Regarding the fall damage when jumping. Press the jump button twice as you're about to touch the ground to roll & avoid taking damage.
This was tweeted by Marcin Momot, Community Lead & Website Coordinator for CD Projekt Red.