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In higher difficulties it definitely helps with several types of raids a lot if you use them. If there are several hundred tribespeople coming after your 20 colonists, there is simply no way to fight them out in the open without getting overrun.
And killboxes are simply a thing in reality. Castles had them. You know what was done to overcome them? The enemy would send sappers, to dig around your defenses, they would send breachers to break down your fortifications, or they would try and besiege you from afar.
Sounds familiar?
That the AI in Rimworld is limited and doesn't react properly to seeing the guys in front of them getting mowed down is a bit unrealistic, yes I give you that.
Or is it?
Human-wave-style-warfare was a thing through all of human history and is still done today. Just take a look at how the Russians have been throwing their people wave after wave against fortified positions in ukraine for the last year.
It's not pretty, it's not clever, but it's a thing that exists.
In conclusion: Do whatever is fun for you. If you want to use killboxes, use them. If not, then don't.
Also consider the distance between raiders to your walls and your colonists to your walls. You really want to be able to set up your pawns before raiders whale away on your defenses, which is why a majority of killboxes feature lengthy corridors filled with traps and/or sandbags to slow them down. Not forgetting your environment! Hot deserts and frozen ice caps are decent at weakening raiders before they arrive. Heatstroke/Hypothermia both reduce consciousness which will help them miss shots. Mechanoids are great for destroying you killbox or not.
In the end, it really only matters how you want to play. Personally, I love playing Rimworld as a colony sim and not a tragedy sim. I weigh multiple factors in whether or not I build a killbox. Call it cheese, call it genius, play how you want.
The vast majority of raids can be easily defeated with some basic defences and colonists (assuming you actually use tactics and don't rely on AI pathing).
But OP isn't asking for your moral stance. They are asking if it's possible to play the game with out killboxs.
It's very telling so many jumped to defending killboxs when it wasn't even being attacked, almost like they feel guilty about it or something.
As much as Tynan allegedly hates killboxes and wants to prevent them he doesn't really discourage it in any significant way and in many ways encourages it by the way the raider mechanic actually works. All it really would take to make killboxes useless is a minuscule amount of improved AI that avoids killboxes or trap corridors by going around them once they've triggered them but sadly that's not implemented in the slightest.
Right now once they enter your killbox they all keep moving forward like a bunch of zerglings with no brain or consciousness of the fact that every one of them is walking into a death trap once they turn the corner.
While killboxes were a real world thing, no army would ever send in ALL their troops into the killbox. Usually army commanders would try to trick their opponent into thinking they had walked into the killbox so that all the defenders troops would be there defending the chokepoint while they tried to breach the backdoor which would be less well defended at that point. The AI sometimes tries to simulate this 'somewhat' by having the raid be split into multiple groups, which can cause some chaos but generally speaking they are still dumb as bricks and you can just take out each group one by one.