It makes me sad you think a squirrel can’t seriously injure you, like there wasn’t any reason at all they are included on that permit list.
Im way more scared of my neighbors dogs than i am of the park squirrels. By this logic any animals that can harm you (almost all of them) should require a permit.
You should need one for nondomesticated animals. Go ahead though, go interact with wild animals. You’ll find out why this is the way it is pretty quick.