From what I see of cats, many prefer to be outside, where they get a bit of sun on their backs, and mental if not physical stimulation (watching birds, and mice). I had neighbours who after losing a cat on the road where they previously lived, had two who never went out even if in a hamlet with virtually no traffic other then at the start and end of the day when people went to the station. It was so sad seeing them having to sit at the window day after day.
As said, cats are basically 'wild' creatures who have, over time, learnt that humans can be useful for food, shelter etc. when they need it. Otherwise it's clear they much prefer having the ability to be out-doors.