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My cousin did this about 6 or 7 years ago. She doesn't need a service dog, but has a small dog and just wants to be able to take it anywhere. She told her doctor she gets anxiety when she is in public and having the dog there helps. He gave her what she needed, no problem.
If you are going to ask your dog to complete certain tasks, you might have to have the dog certified that it can do these things, but likely it will be quick and easy.
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