I imagine that humanoids will only ever be guardians for now due to game restrictions. Now, all that really changes (as we know) is the sex and the head design of our character.
By adding another race, like Fallen with extra limbs, would mess up a lot of gear aesthetic OR simply be too much work, though it’s certainly a cool concept.
As for pets, trailed by wolves and such: it doesn’t seem to really fit. Maybe if we were decking out our ships interiors, but general play, not so much.
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In game you are correct. I was asking from a lore point