There are a four or so cats on my street that roam freely and some of them mostly stick to their front yard, or just along the side walk. It doesn't bother me until I'm sitting on my front porch and they come over and start annoying me, but even still they are all friendly cats so I don't mind to much.
I think the way to judge is the behavior of the cat. If they were ruining my garden, like bobblehead, then I would say do something about it.
However I live downtown, so I wouldn't think it safe for them (with all the cars)
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