Meaning of a sentence

To [go off] means to leave. [Off] should be read as part of the verb, or maybe an adverb.

It would be ok to say [Off my friend and I went].

It is a little unusual but not wrong to [invert] when you start with an adverb. You could also say [Happily sang my friend and I] and it's not wrong. It puts emphasis on [happily] or [off] I would say.

But I cant say why there should be emphasis on [off] in this sentence. Maybe the context would help me.

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My friend and I went off(出了門; 離家出走; 離開了), (went) through the crowds and (went) up to .....
Off went my friend and I . It's inversion.