Oh yes. The non domesticated sort raised from infant can see you as mama. Rodents, marsupials, small mammals like skunk, fox, even bears, elephants, seals, etc, the list can be big. How about an owl that brings you the mail.
The loyalty line usually crosses with dependency and even there, that can include dogs that have not bonded.
I will say it is hard to beat a bonded dog, but I had a mouse that at least compares.
Cases of a pet bear rescuing its keeper or being classed as a service animal.
Even a tiger long separated from the person that rescued it showed tears of joy when brought together.
Rare cases albeit but should prove the point.
Boar I would question and once adapted wild, are no pet, Goats and pigs yes.