I have only had 3 basenjis. Two that were never, ever okay uncrated. Whether you need to crate or not, crate training imo is not an option. Someday the dog may need it... after an injury, surgery, boarding, or some catastrophic event. Start immediately, because the younger they are, the easier to overcome anxieties.
My last basenji at about 8 mos became totally reliable. No issues, but we crated to keep the other one company. After Arwen died, we left her loose. All was fine until we moved to Israel. I was an idiot, should have crated her til she really had settled into our apartment. I didn't and she did MAJOR damage to the bedroom door, a bag with usb cords, the memory foam mattress... So she's crated again at 9. She doesn't mind, she has her boy toy (2 yr old Samoyed) in his crate near her. He'll never be free. If it will fit in his mouth, he'll swallow it. If it doesn't, he'll chew it down til he can. Sadly it's a common trait-- they are walking surgeries-waiting-to-happen. I suspect Cara would be fine at this point, but why bother?
Unlike others here, I have not left a dog with access to outside when I am not home in 40 years. I nearly lost a dog when I WAS home to a snake bite. I've always lived with trees around me so risks of a limb falling on a fence, someone throwing poison in the yard, bee stings.. whatever. Dogs sleep up to 17 hrs a day... I make sure they get exercised plenty and do not consider it worth the risk. I respect the rights of other owners to make their own decisions based on their own situation... but make it understanding the risks.