That's absolutely true from a lot of experience. And, if adopted while still a kitten, I've found that a cat never even longs for the outdoors. On those occasions when I open the door to head outside, my cat flees in terror when he gets a blast of the outside air. He thinks it's the third level of hell out there. Of course, I'm in Texas -- at least during the summer -- he's not far from the truth! :)
My tomcat has a similar attitude towards the outdoors. He’ll occasionally step onto a stair if I’m around, but as soon as I go inside...DADDEEEEEE!