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My childhood guinea pig was pretty clean and rarely pooped outside his cage. He regularly watched TV with me in my bed. He only got poopy and smelly when his butt stopped working, which was when he was 7. Had to put him down a year later.I've had a guinea pig and they're stinky, smelly, poopy machines with no redeeming qualities. I would imagine a capybara is similar but scaled up, so no. Hamsters, particularly Syrian hamsters are much better and cleaner.
They live in wetlands, not deserts.If I moved to the desert in my shitty camper and found one I would feed it though.