My parents owned a cat who loved to go on walks with them, but would complain loudly if the walk was too long, and demand to return to the house when she was done walking. It was such a problem that they started shutting the cat in the house when they wanted to walk, and so she would hide outside and follow them secretly until they were too far along with the walk to bring her back to the house and continue without her, and then trot up and join them on the walk. Then shortly she would complain that the walk was too long and she wanted to go back now.
We love her