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He means if the animal returns on the map as a wild animal, no longer owned by the faction he sold it to. In that case, you should be able to retame it, so I'd say it's an unintended bug.

Only time I noticed an old pet returning was when a dog I'd sold returned as part of a pack of tame dogs who joined my colony. Unfortunately this particular dog was sold because it had lost the better part of its limbs and was essentially just a waste of food. But considering the whole Homeward Bound vibe I couldn't bring myself to eat the dog.

I'm currently migrating my Rimworld colonists and their Luciferium addicted attack Thrumbo to the other side of the planet to escape using the friendly AI, torching down any Pirate camps I find on the way. You know, for fun.

However, when you leave your base behind, it still gets attacked from time to time by raiders which can slow down progress of the caravan as the triple speed-up function is disabled. So I decided to abandon my base completely. Unfortunately this caused the game to lag incredibly hard until I've generated another map again for an encounter or settlement. It seems the game can't really handle the caravan gameplay without a colony map. I don't know if it would be an easy fix but it would be nice if you can exist solely as a caravan without having to host an empty colony as well.