Have someone we can learn the perk Animal Friend from.
This will allow us to capture/buy dogs, wolves and so on. They would not count as companions. We could keep them at our base/tents. To keep them from leaving the base we would have to feed them. Killing Brahmin or Geckos could be the source in which we gather food for them. If we stop feeding them they leave or die.
Animals in the wasteland would still be hostile to us, but having the perk will allow for a time when they don't attack. Have it so they don't attack us unless we get to close. It wouldn't work on Deathclaws, Bugs, Floaters and Centaurs.