Well, I've felt the same way, and, for a long time, I pushed the thought down. Then, I saw something that made me change my mind: harnesses.
Harnesses are much better than collars, as the pull isn't only concentrated around the neck but also on the chest and forelegs. It is more secure, as well, whereas a collar can easily be pulled off.
Recently, I have been allowing the kittens to go outside one at a time. Each of them responded in a different way.
Caspian was very excited, and he felt perfectly fine walking around, sniffing, and exploring. Gabriel was more content to simply lie down in the grass or under the willow tree, and, while he did wander a bit, he mainly enjoyed the relaxation. Nicholai, on the other hand, was very nervous. He got spooked, and I ended up having to waddle beneath our porch trying to get him. Needless to say, I haven't taken him outside since, and he seems fine with it.
The most important thing to remember, besides taking it slow, is to carefully watch your feline. Pay attention to what he or she expresses and be sure to respond in ways that reassure him or her. Another thing to keep in mind, if there are already cats or other pets outside, is that your cat must be seen as belonging there. For instance, my cat, Colleen, is quite moody with strange cats, especially when they have an attachment to me. So, when she approached Gabriel with a cautious appearance, I placed my hnd on Gabriel's back. This made her stand up straight and stare at each of us before going on her way, albeit a bit grouchily.
Don't be afraid to experiment, as long as you take safety precautions. Good luck and good day to all of my onlookers! :3