With their little peabrains I don’t think they can do a whole lot of thinking. Instincts, sure. I sometimes take them out with my rabbit and they get along perfectly fine. Back when I was living with a cat, we would put the lizard on top of the cat for a cat-ride. (We’re talking a male german giant bearded dragon, just under the size of your forearm, so no risk to either cat or lizard.) Reptiles are pretty simple creatures, overall. One could easily program a “lizard simulator” and it’d be pretty darn accurate.