Yes, i have.
I haven't pet and/or held any exotic animal(s)
I've held a boa constrictor, a baby saltwater crocodile. I've pet a kangaroo and a Coast Horned Lizard.
an elephant in thailand I suppose
Baby lion, camel, elephant
I held a "rust rump" tarantula. I actually picked it up while we were riding sand dunes in our Polaris, in the middle of the Arizona desert. It seemed cool then, now that I look back, I'm lucky I wasn't bit. Damn, I was stupid.