That's actually not true! Our last boy lived to be 20+ and he came to us as a stray living outside. As he got older and more infirm, he gradually moved inside. Latterly he was only out under supervision, but he absolutely did roam in his younger years even after he came to us, and I totally defend his right to do that!
After he broke our hearts when he died, we adopted two rescue cats. One had been straying in a city centre. The other had lived in a housing estate where she was neglected and left to roam.
I fully expected both of them to want outdoor access, and we still had previous cat's chip operated door flap. They have both been with us for 2.5 years and neither of them has ever shown any signs of wanting to go out. I think they know when they have it good!!
Eight months ago we adopted a Maine Coon/Ragdoll boy. He was also used to having outdoor access and he came up for rehoming when his human mummy sadly died.
Again, he has been so happy indoors and never looked to go outside.
However, if they had been unhappy indoors, I wouldn't have hesitated to let them go out.