I've "had" a cat for 10 years but it's completely free (hence the quotes: I don't feel I own it at all). It comes in and out of the house at will, sleeps in the house during the day and does things outside during the night (but sometimes it also does the opposite, sleeps at night and wanders during the day).
I keep food for the cat inside the house, but no litter box; it does its thing outside -- not sure where: not in our garden.
There are other cats in the neighborhood, also walking free. There has never been a cat hit by a car.
It must be wonderful to be able to herd cats! Ours kind of responds to voice commands when it feels like it (it seems to understand "no!" mostly) and is able to make itself understood when food is missing, but not much else.