I've had indoor and outdoor cats. And I've had indoor cats that we started letting outside. The change in their behavior when they have access to the outdoors is palpable. They come alive in a very obvious and dramatic way.
This isn't really surprising when you stop and think about it. We seldom make the argument that zoo animals are living their best lives compared to their wild cousins despite the objectively safer conditions of a zoo.
I think you're anthropomorphizing housecats a bit here. A housecat who gets multiple square meals of catfood a day, played with, gets to cuddle with their owner or other cats, and sleeps safely in the sun for 3/4 of the day will live a happier and longer [1] life than an outdoor cat.
Now, you have to still mind your indoor cat. They need stimulation (look up "eat hunt bathe sleep") and attention and a good diet and cat-friendly environment. But give them that, and there's really no argument that being outdoors is obviously better. It's more that the outdoors gives some of that stuff by default, so compared to a cat owner who doesn't fully invest in their cat, maybe there's a case.
But if you understand cats, you get that that "coming alive" isn't some "free at last" sort of thing.
Just reporting what I've noticed from my own cats. There's an entire aspect of their personality that doesn't come out when they are restricted to indoors. I don't think it's possible to fully replicate what cats get from being outdoors, but a lot of people convince themselves it is.
Of course going outside is dangerous for cats. It's dangerous for people too but we still do it.
I've had indoor and outdoor cats. And I've had indoor cats that we started letting outside. The change in their behavior when they have access to the outdoors is palpable. They come alive in a very obvious and dramatic way.
This isn't really surprising when you stop and think about it. We seldom make the argument that zoo animals are living their best lives compared to their wild cousins despite the objectively safer conditions of a zoo.