Travelers in Ulos may find themselves in need of assistance. In some cases, but not all, that assistance can come from animal companions. The bond created between the two can be quite unseperable.
You discover a Frogkin woman about to sacrifice a frightened animal. Stopping her will save the animal. The freed animal will remain with you are your familiar. - Tome of Encounters (RPA-Tome-ADV3-20)
Before leaving the barracks outside of Taron's Arena, you encounter Minthrok and Shortep. They have a wide variety of familiars you could choose from.
Captain Kaemon and his crew collect animals. They offer tham for sale at every port of call.