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How can we speed up the widespread domestication of raccoons to where it is common for humans to have legally have raccoons as companion animals or pets without spreading infectitious diseases and without getting raccoons killed by humans who are not raccoon friendly?

Maybe companion animal in this context I am using it means it hangs out in their backyard like a companion to a human but it is free to leave and not forced to be there against it's will like the way a pet would have no choice