@inquiline
Only what was suggested was not for you to have a pet, but for her to have access to a critter in your circle.
For comparison, myself have discussed with a friend the notion of mutual pet cams, where floor-level virtual mirrors might allow, say, indoor cats in two households to check in on one another.
Imagine how off-putting that would be if those portals were erected in each such felines' respective hide-away spots.
We generally recognize and allow for domestic partners, human or otherwise, to have space for themselves. That the animal in question isn't actually cohabitating with a human seems all the more reason to leave them to their own privacy.
As for thinking this in terms of exchange, the question of consent, on the part of the squirrel, immediately arises.