脱 ('to shed/come off') +
出 ('to go out') gives the literal sense 'come out by shedding'. Often interchangeable with
摆脱 (bǎituō, 'to shake off') and
逃脱 (táotuō, 'to escape'), but
脱出 is more formal/literary and frequent in medical contexts (e.g.
脱出 of an organ = prolapse).