Most likely, no. The domestication of animals was only part of the Neolithic Revolution aka the First Agricultural Revolution that changed society from hunter-gatherers to modern civilization settlements. The domestication of plants was a much larger factor, including the development of techniques such as grain storage, irrigation, etc. Crop specialization allowed people to produce their own food in a fixed area and survive there more permanently. Animal domestication was certainly important, but it wasn’t the make-or-break factor.
Maybe, maybe not. We may still have settled down and left animals to their own migratory leanings, but the evolution of society definitely would have been different.
A huge part of human nomadic culture involved following migratory patterns of meat-producing animals (such as elk, bison, cattle, etc.) as those animals sought more temperate, food-producing ecosystems throughout annual season cycles.
As soon as we figured out how to create our own food-producing ecosystems via farming, it was only logical to extend that same process to the animals we once followed; by containing them, human communities were assured all their nutritionary needs could be met even after settling in one place.
Domesticating animals also led to huge developments in agricultural and transportational technology that would not have been possible without the “horsepower” they provided (racing carts, plows, etc.).
I think it’s safe to say that animal domestication, while an important by-product of human settlement, was not necessarily a deciding factor.
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