This is already possible to do in Kugane! If you and a friend jump together, with both a Blue Mage with the Self Destruct spell unlocked and a healer or caster that can resurrect, the person who has fallen off can Self Destruct and then be raised by the person higher up.

To reset the Self Destruct timer and 10 minute debuff, use the Duty Finder, go into an instance, and then when you're back out it will be gone. I do an Unrestricted Party solo Ifrit for it, but queuing for the Under the Armor guildhest is nearly as fast.