That's the best.Mine has always been off leash outside. Best to start as young as possible when they want to be near you. Now at 3 years, she'll hang out on the front porch and yard without a fence and watch what goes on....
There's always the possibility of exceptions. I could call her off if she was still in observe or stalk mode. For mine, the list included rabbits, and assisting the neighbor's cat in dealing with interlopers.