Selective breeding, if I had to guess.
Say you find two stray cats: one that does not like being petted, and one who does. You will more likely treat the friendliest cat better, providing it more food and shelter and increase its chances of surviving compared to the “unfriendly”. Multiply this for thousands (?) of years and you will get a majority of animals that enjoy being petted since the other ones are less likely to thrive.
Imagine a big friendly giant scoops you out of the garbage and lets you live in his house for free for the entire duration of the rest of your life. He feeds you, buys you toys, takes you to the doctor when you need it, and all he asks in return is that he get to rub his big weird hands all over you a couple times a day. Would you not be enjoyed?
Imagine when you get a hug from someone you love, it makes you feel really good and safe, right? Well, for animals like dogs and cats, being petted is kind of like getting a hug from us. It’s a way of showing them we care about them. When we pet them, it can also remind them of when they were little babies and their mom would lick and groom them. This makes them feel loved and comfy. Plus, petting feels nice on their skin and can help them relax, just like when someone plays with your hair and it feels super calming.
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