I had those same concerns when I first adopted my Cat, Pounce. Not only at home, but out on the road, as I am travelling in my Freightliner most of the time, and she travels with me.
She was curious about the great outdoors as a kitten, but it only took one bad experience to break her of it. One day when I had her about a month (she was about 3 months old at the time) I had set her in the truck first, while loading my gear to leave out. As I was hoisting a stack of blankets in through the door, she slipped down to the step on the side of the truck, and promptly disappeared underneath the cab (atop the frame rails). By the time I could get free to pursue her, a moment later, she was sliding around in the GREASE on the truck's fifth-wheel hitch!
WHAT A MESS! After the 'cat cleaning' which ensued - which involved every soap and degreaser I had available, and ultimately clipping some fur - she has had NO further desire to explore the great outdoors.
She's about 4-1/2 years old now - a sassy 22-pounder (fixed female) and a great companion. The cab of our truck is her prime domain, and she takes to the house OK when we're home. She will let me carry her between the truck and the house just fine - but if I try to take her out of the big truck anywhere else, or step out of the house with her and head for my pickup instead of the big truck - then I've got an 18-clawed "tiger with an attitude" on my hands.
She's comfortable with her two 'indoor' domains, and that's it.
Only one time, about two years ago, has she slipped out of the big truck away from home - and I was right there to retrieve her. I was standing outside talking with another driver, and had left the window open. A number of Birds were plucking bugs from the grille, and she had been watching that. During my conversation, the other driver suddenly pointed behind me, and I turned to find Pounce stepping out across the mirror brace and around to the hood. We watched a moment as she crept around and tiptoed down the hood - then I stepped and met her "nose to nose" at the end, and asked "Where do you think you're going?"
She gave me that "Who, Me?" innocent look and Meowed. I set her back inside the truck, and it hasn't happened again.
She knows where Daddy is gonna be - either in the truck or in the house - and doesn't stray from those places (thank God!). She doesn't stray very far from me for long within those places, either.
(If only I could find a female of my own species that was that loyal).