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Do dogs really miss us?

We would like to think that, when we leave for work, our dogs miss us. Yes, they get really excited when we return, but are they happy to see us or is it just excitement for the sake of being happy? Are they looking forward to that meal you’re going to give them, or maybe the belly rubs they have been waiting for all day. But in reality, if someone else was to walk through that door at the end of the day, could you say that your dog wouldn’t act the same?

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