My conviction comes from having owned a dog, and realizing after a couple of years that it will never have the life in a pack roaming the lands that it obviously craved (“obvious” after observing its behavior for long enough). I don’t think a healthy co-evolution can be claimed when the animal is not free to act independently, i.e. without being coerced (like being taken on a leash or otherwise physically constrained). I’m more sympathetic to cats as pets, if they can come and go as they please.