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If the animal notices you, you should see an animation on the animal showing it is alerted. Let it run away and then you can try again when it calms down.
There are a few tricks if you aren't able to do it normally.
If you have a flying mount, you can literally drop onto the animal and pet as you land. With a golem, there is a semi-glitch where your position is off, which means animals will sometimes fail to detect you until you dismount. Again, you can sometimes pet the animal as you land.
Another trick is to build a trap (if you have say infinite wood, you can build wood blocks and you basically just make a trap that forces the animal into a small 2x2 spot, leave (such as via a ladder) and then wait for the animal to calm down. Jump down once it stops and pet it.
little stuff like that is easy to overlook