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"In an alternate universe, maybe we'd have smallish bears as trusted companions :-)"

Some people have even in this universe, but not so many, because they are not easy to handle. And back then having pets, was not so much a hobby - but the dogs were useful for survival. (guarding and hunting)

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If you haven’t already seen it, I would highly recommend the film Grizzly Man about someone who lived with bears.

https://m.imdb.com/title/tt0427312/

I would imagine wolves weren't to easy domesticate either

Not easy, but much more easy, because wolves are pack animals who accept a leader, which can be a human.

Bears not so much and therefore much harder to control. Same with cats, which is why they have been kept around to hunt the mice and rats - but only small cats.

Also I believe the first dogs did not came from wolves, but other wild dog breeds.

Felines of all sizes have social hierarchies.

They do, and like circus proofs, you can teach them. But since they are more individualistic, it is a lot harder.

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