Not pets necessarily but they definitely have plenty of animals to interact with! Akira's father has some chickens back at her childhood home and the kids loved to play with/around them when they were little, Kiragi especially. He made it his own personal game to see if he could catch one and proudly go show his parents (usually trailed by Forrest who is pleading for Kiragi to be gentle and put the poor chicken down, he was always worried about them as if they were his own chickens). And occasionally they get to interact with Nike! So that's kind of like interacting like a dog. Sort of. They got to see her more before Akira, Leo, and Takumi married but afterwards it was usually just when visiting Akira's homeplace, though they've wanted to find a way for Nike to stay in/visit Hoshido and Nohr. Plus animals seems to have a natural inclination towards Akira (who definitely has a soft spot for strays) so there's usually an animal somewhere in their life, even if just a frequent visitor!