Don’t put your indoor cat outside, they are much safer indoors. Cats do like to get to high places. I have 2 tall sturdy cat trees in my living room and 2 large aquariums that my cats like to lounge on. Your cat needs something like this. To make the kitchen countertops less inviting try using double sided sticky tape or cut down some plastic floor mats that have the pointy spikes on the bottoms and put them upside down on the counters. Cats also don’t like the smell of citrus so you could cut up some fruits and lay the pieces up there.