Not always. Our two indoor cats are rescued feral kittens. Neither of them is wild at all. One is shy and dominated by her sister. The dominant cat is a dedicated lap cat who likes to crawl under the covers to sleep beside me. They're as docile as any cat I've ever had.
How old were they when they were found? My feral kitty is about a year and a half now and is pretty tame, but still had those instances of climbing the doorway. lol