So this could mean "He plants a tall tree" or "He climbs a tall tree". Are you just supposed to guess by context in the real world?

I know kupanda primarily as to plant. But in Tanzania it is also used, perhaps informally, to tell you to sit. People will say "Panda kiti" meaning something along the lines of "plant your butt in the seat".

I am confused with this panda word. However, don't you think they say "pata kiti", Austin? Instead of "Panda kiti". Just thinking.