Note that cats can form complex boundaries. They for example “agree” that the passageway behind the houses belong to no-cat and is shared, but that as soon as you enter a garden you get attacked.
In the end you control that which you can defend. Urban jungles already have lots of natural markers which animals use as boundaries. Defending a flat plain requires lots of patrolling. Defending an enclosed valley (or a walled garden) is much easier.
The only advantage people have is we reshape the landscape to make it easier to defend. Animals just have to do with what there is.
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