I saw a guy at the park with 2 redtail boas and 2 carpet pythons. People are generally allowed to bring their pets into certain public spaces, this applies to snakes too. They don't need to have any special status for that. But you have to understand that a lot of people don't like snakes so you might have to put up with negative comments or people freaking out. Plus, they tend to attract a lot of attention (the guy I saw was wearing a local herp club t-shirt and was using it as an opportunity to educate), so if you have social anxiety it might be counterproductive to draw all that attention to yourself. But if pets are allowed in your park, go for it!
An ESA just means that your doctor thinks it's good for your mental health to have a pet to care for. So that's why they're allowed in no-pets housing.
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