Many cats are born outside with little to no contact with humans at all. Such cats are known as feral cats and can be difficult to socialize so they can be pets for people.
In general, feral cats can be socialized but the longer they’re on their own, the harder it can be. Still, feral cats can be friendly and they can learn to socialize with humans in their own way. If you plan on adopting a feral cat, show it lots of love but let it determine the relationship and you might wind up with a wonderful pet.