This video "How Dogs (Eventually) Became Our Best Friends" gives a great introduction into the study of how animal companionship, specifically regarding dogs, has evolved over time and what lead to the human-canine connection.
The PBS Eons Youtube channel describes this video as "We’re still figuring out the details, but most scientists agree that it took thousands of years of interactions to develop our deep bond with dogs. When did they first become domesticated? Where did this happen? And what did the process look like, in terms of genetics and anatomy?"
Video link: https://www.youtube.com/watch?v=nDt0HKSdRRw
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