Yeah of course.
Our adventuring parties regularly mounts or even carts/wagons and the like.
Little bit more secure/defensible and also makes it easier for spellcasters to get a few extra hours in scribing scrolls or building wands.
Quite often buy some guard/hunting dogs as well -- helps with the night time watch and soemtimes even extra guards -- they don't normally go into the dungeons/main adventures but are handy to stay outside and care for the mounts, luggage etc etc .
They can be a nice to fold some regular NPCs into the campaign and on at least one occasion for us one of those has "graduated" to becoming an actual PC after a character death.
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