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It does happen, but not very often, as you say. It seems like more "natural" (rock face, cliff) free climbing accidents occur rather than urban ones - I suppose a steel beam has less chance of falling away at your feet, and there are 'easier' handholds. There's precious little data on urban climbing deaths, only a study on deaths caused by "dangerous selfies" which includes far more than just rooftoppers.
Though I'd very much enjoy it if youtuber cunts like Ryan Taylor fell to their deaths more often.