About 20 years ago, someone gave my Dad a pair of baby raccoons that had been in a chimney. Originally, the homeowner had called animal control or DNR and they came to get them, but they only got 2 babies from the den that Mama Raccoon had made in the chimney. It turned out there were 4. So, Dad ended up with the other 2.
Hand fed them for a while and kept them in a dog pen. Gradually giving them more and more freedom to roam the woods around the house. Every night Dad would go out and call to them and they'd come up to the den for pets and snacks. They were rather fond of beer and potato chips.
Gradually, they took longer and longer to respond when Dad called them out of the woods and eventually, they never came back. For a few weeks he'd catch a glimpse of them in the trees, so he knew they were ok and had made themselves at home in the woods.