That's my experience anyways. I think some of the other comments here are right, that a limited outdoor space that they could enjoy but not escape from would be ideal. I don't have a yard so my cats are indoor only. I did try to leash-train the smarter one but she was not having it.
edit: we would clang their food dishes and shake the food bags. Calling them in for the night was also feeding time. My experience was that despite this they wouldn't show up sometimes.
You feed them at the same time every day before sunset, and then don't let them out after that. Most cats will not want to miss dinner.
Only a cat goes missing for a week then shows up soaking wet and meowing frantically.
You just close the doors and windows after they come in for dinner, before they eat their dinner.
What the fuck is wrong with people