Bien parado (etymology)

Bien parado (etymology)
 

Hi,

De la auditoría habían salido bien parados en lugar de ir a la cárcel.

The meaning is obvious, yet I'd like to know which shade of the parar/parado meaning is implied here.

More context is needed if you're wondering about what shade of meaning there might be.
Without more context, they had passed the audit well (in good shape) (the audit came off well).

It almost directly translates to in good standing

"Salir/quedar/caer bien parado" is a common expression. It seems to me related to the belief that a cat always falls on its feet and walks away unharmed. The idea is that you can get in trouble or do something wrong/unacceptable, but you manage to get out of it in good shape.
There is also "mal parado", which implies that you actually "broke something in the fall".

Thanks!