There is no direct way, but the function basis_rows(Matrix) returns a basis of a matrix. As the vertices are homogeneous this will return an affinely independent set if you apply this to the vertices of a facet of a polytope.
Note however, that the function returns a list of indices referring to the rows of the input matrix, so if you do something like
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print basis_rows($p->VERTICES->minor($p->VERTICES_IN_FACETS->[0],All));
the returned lists gives indices relative to the list in $p->VERTICES_IN_FACETS->[0]. One option to convert this into a list referring to VERTICES is to turn $p->VERTICES_IN_FACETS->[0] into a perl array and map out the elements indexed by the basis.