My cat ran away will he return?

my mom got tired of having cats so she took them to her friends house and put them in the garage and let them out of there cages. they were really scared. then she came back to get them to take them home and one of the ran right out the garage and the other is home now. last night i heard a whining sound and it was my cat. he found his way home from my moms friends house which is crazy because hes never been outside before or even been there. hes afraid. i caught him last night but he got away but he hates being picked up and hes also shy. he only likes me and my sister. i looked for him all day and finally found him at night i couldnt see him but i could hear him and then around 4am i was in my room and i heard something outback and it was him i went downstairs to open the door and he saw me and ran? do you think he'll ever eventually come back and come inside? and let me bring him home