From a purely darwinistic perspective, cows have been hugely successful thanks to their partnership with humans. I am unconvinced that there is some sort of underutilized potential for dairy cows to be something other than they are.

Human neural networks are miscalibrated to trigger oxytocin around non-humans or even convincing fakes, for example many people are absolutely in love with stuffed animals too, but it's pretty evolutionarily maladapted.