I can’t say living with humans is always great. It depends upon the humans. The interactions aren’t always the best, but when they can provide a safe and stable home full of food, water and love, then it’s great. I find myself wanting to stay inside where it’s safe from those who will just try to harm me.
Otherwise, no, I’d be better off on my own and just get the food when they aren’t bothering me. That is when I can’t catch a mouse or bird to eat.