Comment by lucb1e

I had the same worry but after pressing "next" like 15 times and waiting for 15 pages to load, the last page of Apple's documentation on Assistive Access tells you that you can exit it by triple clicking the "side button" (pointing to the power button, so not the side volume buttons I guess but idk). I went ahead after that and while it needed a few more presses, it ended up working that way, so you can enter and exit at will (at least, once you managed to enter; see my other comment for issues on that front...)