Once the sentience questions starts to become as foggy as it has become there are big questions. Why is eating them OK, for example? In the case of my "pets", if they do not want to be hugged they are pretty clear about it and I respect it. Animals can provide consent in its simplest form.
I do not like this, i will get up and move away or I do like it so let me roll over and you can rub me here as well. Consent IS being given or withheld...IF WE PAY ATTENTION