As a service dog handler, I will still not bring my dog into other people's homes if there will always be a person with me who can help mitigate my disabilities. He loves cats but cats are often afraid of him because he's gigantic, so when we're invited to see people with cats he'll stay at home -- it is okay to ask handlers if their dog can stay behind, without any expectation of it, because it is the cats' home. You'd just need to make sure that person was never left unattended, and obvs this is not true for all disabilities, but I'm okay without my dog in short bursts if I have other assistance.