The thing you’re missing here is that a lot of people are not capable of reading the animals’ body language. Hence, permit. Also the part where just taking some wild animal home as a pet isn’t ok, and to actually care for one you would usually require some pretty specialized knowledge.
I also fully agree that dogs above a certain size should require permits because holy fuck I know most of them are pretty chill and at most kinda loud but they still scare the hell out of me and I can’t trust their owners to control them in all cases. And while knowledge of how to handle them is more common, some people still fuck that up…
The idea that medieval peasants somehow had more free time than the average modern american still is absolute bullshit as far as I’m aware. Unless “necessary preparations for survival” count as free time just because it’s not contracted work (it doesn’t that’s not what free time means).