Having saved three baby squirrels from a hungry snake and raising them for a year, I can tell you that squirrels do NOT make good pets. They eat everything, they require a lot of room to play, and when they bite... ohh... when they bite...
I raised one too. She came staggering across the lawn & tried to nurse on my toe. She was so tiny. I bottlefed her, and she took to it like a duck to water. Her favorite thing was to crawl into the sleeve of my baggy sweater & sleep like she was in a hammock. It is SOOO illegal to save a baby squirrel in MA, I had to turn her back into the wild as soon as she was able to fend for herself. I hope she did okay.
Chipmunks are more suited to pets, than squirrels, from the ones I’ve encountered at my Farm.