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Um...cats are NOT nocturnal.  They are crepuscular.
This means that their most active times are dawn and dusk, or in even simpler terms in low light conditions.
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I get your point, still applied but just too correct you, they’re crepuscular not nocturnal, although it differs just as it does with humans. >

Yup, they are up at sunrise and sunset. all other times they have lower energy. >

Cats kinda domesticated themselves. After people figured out agriculture and had stores of grains. fruits and veggies, Mice, rats and other vermin became an issue. Cats figured out that sticking around meant free food, and the pets and scritches weren't half bad. And real talk, we don't train cats, as any cat owner knows, they are the one who's been trained.