I definitely do, as seen on my wiki page for Chachan. Gran the Baby Behemoth has been used in quite a few RPs in the past, bounding around and generally thinking more highly of himself than is probably necessary, and there's even been a forum RP involving just him. Technically Chachan has also amassed an oddball assortment of other pets through RP (Icarus the Eggplant Knight, Cake the Fat Cat, and most recently Cube the Demon Block), but I've finagled ways for them to be doing stuff "offscreen" and thus never really use them (Icarus guards the gardens against marmots and the like, Cake chills in the Medical Ward).
My most used minion, though? The cushion. Every Runestone you can see Gogonji being a elitist grump by refusing to sit on the ground and instead busting out that cushion. Even had a conversation over its usefulness recently. Gogon also technically has King (Gestahl minion) and an animated journal he got from deep within the Gubal Library (Page 63), but neither see as much use as the cushion.
My most used minion, though? The cushion. Every Runestone you can see Gogonji being a elitist grump by refusing to sit on the ground and instead busting out that cushion. Even had a conversation over its usefulness recently. Gogon also technically has King (Gestahl minion) and an animated journal he got from deep within the Gubal Library (Page 63), but neither see as much use as the cushion.