There are some stores, like Home Depot, Home Goods, and Michael’s (in the US), that are historically pet friendly. Leashed and good manners only of course, but it’s great for socializing a pet and making an employee’s day with cute puppies to break up the retail monotony.
A store that explicitly states service animals only, or has no sign, is not appropriate.
I would be 100% thrilled if a giraffe showed up at my corporate office, and I can’t imagine feeling anything else.