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Does anyone have any kind of rules for this? I really like the imagery of infantry leaping from nearby buildings, but the rules don't support this.

Heralds of Ruin Kill team allows jumping using an initiative check. Fail and you fall, taking a S: X hit where X is the distance fallen in inches.

It's never been present in 40k. Most of the jumping rules you'll come across were originally written for Mordheim (including the HoR version), if you're playing Kill Team or very small games of 40k houseruling in an iteration of that would be the way to do it.