In Beast of Reincarnation, you can pet your companion Koo at any time back at the home base. Doing so frequently will raise your affinity with Koo.

You can pet Laserbeak in Transformers: Fall of Cybertron — as long as you're playing as Soundwave. If you're playing as Megatron, however, Laserbeak will snap at your finger.

You can pet the sheep, the goose, and the donkey in Scarlet Deer Inn, which uses physical embroidery for each frame of character animation.

An exploit for Zelda: Tears of the Kingdom on Switch 2 allows players to summon almost anything via Autobuild Sharing. No modding is involved; all it takes is the right QR code to bring forth a legion of new friends.

The Wizard of Oz: Beyond the Yellow Brick Road (Nintendo DS, 2009) features a dedicated button for petting Toto

You cannot pet the dog in Resident Evil (1996)