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Then what you need is a cat ladder.
https://www.boredpanda.com/swiss-cat-ladders-photography-brigitte-schuster
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We have an indoor-only cat. We take him for walks and when we've lived in places with gardens as we do at the moment we sit with him outside in the sun from time to time but he doesn't go out on his own and 95% of his time he's sat happily asleep, playing with us or belting along hallways. I hate him.
Not if you plan on letting it outside and/or care about the decline in endangered birds
https://onlinelibrary.wiley.com/doi/abs/10.1111/j.1365-2486.2011.02464.x