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We use the "open the door for the animals" method.
It has pros and cons. Our previous cat used to knock on the door with her paw which was really cute, but the current two haven't learned that and just miaow for "let me in" and "let me out".
Pros include that it limits the amount of time they are wandering about killing wildlife or otherwise getting into trouble, and that we don't get enemy cats breaking in through the cat flap.
Cons include that their personal liberties are a bit restricted, and it can be annoying to have to open the door half a dozen times in an evening, and sometimes they get locked out by accident.
For the last 10 years or so we've had a pair of rabbits. The last died of old age the other week. We'd like to have a couple of cats next (I used to have cats a few decades ago) but won't get them just yet as we are having renovation work done to our house that won't be complete until the new year. There will be a front door and back patio doors to the house once the work is done but nothing that would really suit a cat flap. We could have a Wall Cat Flap built into the new rear wall of the house - see https://closerpets.co.uk/collections/wall-cat-flaps?srsltid=AfmBOorRedegls0sM3diN2aIzJi4Ja6iYk-F6nvZshSMXyPjmwJNHwzQ . Does anyone have experience of these systems (pros and cons)? Or, do we just open the doors for the animals when they want to go in and out?