word choice - Which verb for "get off" / "leave" the Shuto Expressway?

I'm not sure which way to say something like exit/leave/depart/get off/escape is most appropriate when the thing I want to get off is the system of expressways in Tokyo called the Shuto 首都高.

I'm not sure that any of these would be right:

• 出発する


• 下車する



• 残す


• 終了するには

Answer

You can use 降りる. User @Chocolate is also fond of 出る

高速を降りる
高速を出る

You can use these in the same way to express your idea of getting off of one form of expressway onto another.

首都高を降りて高速(or whatever)に入る・乗る

Just to address your original guesses:

出発する is to depart, as in the place of origin.

下車する is to get out of a car/vehicle.

残す is to leave something in the same way that you might leave food uneaten.

終了 is when something finishes.