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They certainly do pick up on 'clues'- body language, repetition of your actions, etc.
Some years back I kept our boat inside our two car garage - the trailer tongue was just long enough I had to push the unit at an angle to be able to close the garage door.
I could go out, open that garage door and work all day on some misc. tasks, and Spud would lay there and watch. But on the day we were going to the lake, as soon a I touched that tongue and swung it over to straight... he would run outside, stand next to the drivers door on my truck and ...BARK! BARK! BARK! Even though we would may not be ready to leave for another hour, I would have to go open the drivers door and let him up into the cab - where he would sit ...and wait.
Did I mention he liked the lake?
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Don't fear the reaper.
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