Just wondering if, after a pet has been removed from the taming pen and placed in the world, is there a way to put it back in?
No, not if they have been placed in the world. They are similar to thralls in that aspect, once placed in the world they get an individual inventory and decay timer and can not be returned to your inventory etc.
If you removed from pen but have kept in your inventory or a container then yes you can put back into the pen.
Ok, thank you 
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