Netheril is an empire full of magic so familiars aren't an uncommon sight, that said large animals such as bears, panthers and hellhounds shouldn't be dragged around town. Untill a law is announced IC for Animals and Companions, only smaller creatures like hawks, ravens, pixies and mephits should be brought into town. As to not ignore the presence of the NPCs who would not tolerate them.
This also counts for summoning and planar binding.
As a sidenote for druids and rangers, consider that your druidic oaths and respect for your animal companions may prevent you from taking them into a civilized settlement. But this is ultimately up to how the player wishes to portray their bond.