Prefer to be able to directly control your pets in the newest Sims 4 expansion? This mod is what you’re looking for.
Not sure why EA made cats and dogs unplayable characters. This mod will make them selectable/playable. They have their own needs and behaviors to choose from. The choices are a bit sparse at the moment, but hopefully, more interactions can be modded in for them.
Download from Sims 4 Studio.