Capy Oasis gets right to the point in its description making clear you can pet a capybara with your own hands.
The description elaborates further: “Capybara Capybara Capybara Capybara, Ca-py-bara!” Also, "you'll learn educational facts about these critters while you interact with them in a rich, immersive environment."
Don Hopper checked it out to confirm:
Available now as an early access release on the Quest Store, Capy Oasis is in development from Soaring Roc Studio. The developer notes on X they are learning from feedback and have a good start toward making “this the ultimate Capybara virtual pet experience”. Support is listed for Quest 2, Quest 3, and Quest Pro.