If you worry about them getting out and being scared, then why not taking them out with you when you gaqrden, etc? That way they know their territory, and are only out when you are there, and if they get out accidentally, they know where they are and won't panic.

My oldest cat, Allen, was allowed outside before we got him. To this day, he wants outside whenever possible. At least he doesn't run and when he does go out, I'm out with him and he just sits in the sun eating grass. He never strays more than 5 feet from the back door (though its far enough that he caught a chipmunk this past fall!) I let Allen outside with me when I take out the trash, let Nicki out ot pee, etc. 5 minutes at a time, at most, but he loves it and NEVER goes anywhere. Once I FORGOT I let him out, and the sweet boy tried to get in through the basement door! LOL

Even if you live on a quiet cul-de-sac, there are STILL dangers. Flutter was born on much the same type street. The family who adopted her mom LOVED cats... yet somehow a human came along and choped off the legs of three kittens. My Flutter is one of those kittens, and every day I feel sad that I didn't get to her before some evil human performed their own cruel surgery.