I’ve had cats all of my life, and never had ONE pee or poop except in the litter box. Cats are trainable. In fact, a lot of animals you wouldn’t think could be trained, can be house-trained.
(Now, cats gacking on the carpet - well, stuff happens. But it doesn’t smell ;-)
Come to think of it, human babies pee and poop in the house and I still like them. Additionally, human offspring can create messes that surpass anything a cat can come up with, and I continue to enjoy them both.