A vitamin is simply a substance that you need to function but can’t synthesize enough of, so you need to get it from your food. It also means that not every animal needs the same vitamins. Which substances are vitamins to a particular species will have been determined through their diet and many, many years of evolution.
So the simple answer is that they get their vitamins the same way we do: from their food. They might just have different vitamins that suit their diet.
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