There's lots of ways to do that safely.
Catios are a thing.
My partner has fostered multiple cats and now has two. The older one has seen some shit and appreciates being a housecat. She has zero interest in going outside, but she feels safe basking in the small catio while we have a hot drink on the patio.
Maybe in your very specific case it's OK for the cats to be outside because you have some type of electric fence to keep the coyotes or foxes out. This is very similar to dogs on a leash. The general rule is keep them on a leash. But one in a thousand dog owners has trained their remarkable pup to not need the leash. I've seen it, but the rule is dog on a leash for the 999 of us.