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I presume that by "got off", he meant when Ventus was comatosed over a fractured heart and Sora connected his heart with Ven's. To the best of my knowledge, Xehanort brought him over to Eraqus.No it was not explained how Xehanort left the Islands to start his training. If I had to take a guess his Master discovered him after coming across Destiny Islands and took him to Scala once he found out he could wield a Keyblade.
In regards to Ven I'm not sure I understand your question. From where did Ventus "get off from"?
How did Ven get off destiny Islands? IIRC, Xehanort dropped him off and left.
Xehanort had every intention to leave him there when he thought Ven was going to die, but that changed once Ven connected his heart with Sora's and got a second chance at life. After Xehanort saw that he would survive, he brought him to the Land of Departure.