I think it can depend on the cat.
I have two, one is a born hunter and would climb the walls if not allowed out, I struggled to keep him from bolting out the door as a kitten untill he was neutered and allowed out, he is well fed but still comes and sits on the doorstep several times during space of a day with a mouse.
My other cat however who I want to go out has to be forced, he just wants to sleep all day and night, maybe he'll change with age he's still only a kitten (7 months), if he doesn't change I will probably just give in and let him stay in.
I have to say though that we live in the country where there is minimal risk of accidents, if I stayed in the town I might have a different view on this matter.