A friend of mine who’s learning German asked me this and I couldn’t explain it to her. Is it just an example of how a word changes over time?
Perhaps it used to me “hear me tell you to stop”, “hör auf [my command]”?
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Duden says mittelhochdeutsch ūfhœren, eigentlich wohl = aufhorchend von etwas ablassen
to stop (making noise) and prick (up) one's ears
but that etymology has no safe origin. So, we don't know.