I have had only one cat in my adult life. His name was St. George, a rescue, who was eyeball-estimated as part Burmese by our vet. He certainly acquired his voice from somewhere! He moved with me numerous times, from house to house.
He started as an outside kitten. We lived in a cottage at the back of the landlords’ garden. The landlord had two large dogs, Alsatian crosses. My cat put them in their place from day one, and was the boss of that back-yard.
I moved to a different city when he was 2 years old. This time, the landlady had her own cat, and two very large dogs. He started there as an outside cat, but in an unfortunate incident while attending to cat business* he became nervous of those dogs, and became an indoor cat. He remained an indoor cat until I moved cities again, and, having no permanent home, moved in with a friend of a friend in an apartment block on the 5th floor. I shuddered when I spotted him casually walking along the balcony railing with such a big drop below, but he became a multi-story flat-cat. He worked out how to get from our balcony to the neighbour’s (obviously, we tried very hard to prevent access, but this is a cat, after all) then out their window and down the stairs to the flat directly below, where he was warmly welcomed.
I then moved to a small ground floor flat. He wanted to be an indoor cat for about a year. Then he discovered the neighbours, and was an outdoor cat for another 6 months. Treats were probably involved.
I then moved in with my girlfriend, soon to be wife, and from the start he was a street cat (there was no way to keep him in, and it was a quiet street.) He spent the day with the neighbours across the street who worked from home, and evening to morning at his real house.
Finally, we bought a house. He had his own garden and plenty of space, but he decided he was an indoor cat again. Then I got a dog. Suddenly St. George took notice of the outside and once again, became lord of all he surveyed. The dog was utterly subservient.
So, at least anecdotally, cats can choose either lifestyle and be perfectly happy.
* the unfortunate incident: St. George was in that indelicate position of defecation under a bush, when the landlady arrived home. Her two dogs burst around the corner, eager to welcome her - straight towards my poor cat. He freaked out, they ignored him, and ran on, but he bolted straight up a large tree. He then used his sizable Burmese voice to inform me how unhappy he was. So I got a ladder, too short for the job and scaled the tree, branch by branch until I was within an arms length of the cat. I reached up with my right hand into a fork of the tree… to find that the turd that he had had interrupted on the ground had been completed in arboreal format.