It's tough bc I think bc dogs are just so loving and friendly, that humans have a natural impulse to reach out toward that, without really thinking sometimes...so I wouldn't be offended or anything. I view it as our natural gut instinct toward a loving creature...we wantz some
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That said, I do always ask permission prior to petting another person's pet now, just out of politeness and respect...and bc some dogs are indeed shy and may not appreciate being touched, so it's out of respect for them as well, and their boundaries if they have firm ones.