That's how mine is, but he's old & arthritic. I wish I could've leash trained him so he could have longer walks. After a few tries with a harness, we gave up & started walking him only when there were two of us, one on each side. He learned the boundaries of the yard & wouldn't try to leave (but we still always stay next to him).

We did the same with my sister's cat, but he's always been a scaredy cat & while he wasn't as good at learning boundaries. He was smart enough to stay away from the scary road. They were both apartment cats for years first, though & it was scary training, so we always picked low traffic times. Most here also have pretty well trained dogs, so while we still pick up the cats or usher them inside when we see dogs who look excited by him. Really helps to have a 2nd person training them with you.

Some cats have no interest going outside, though. I've seen plenty who just want to smell the breeze & watch the outside world through a window. When mine gets too old for his walks, we're going to try a cat stroller.