Touching any Najis item including dogs or its urine etc does need Ghusl at all. You need to wash the part which touched the Najis item with water, then perform Wudhu and pray. It is a sinful act to delay performing the Prayer till it's time goes. Performing the Qadha namaz will not omit the sin of not praying within the time of the prayer.
You must perform your Namaz within its time under any circumstance.
Yes it is permissible to have a dog as a pet but you must be careful as it is an impure animal (Najis) like pig and you should not let it make your clothes or plates or home items impure (Najis).
If you want to keep a dog as a pet, keeping a dog in your garden to guard your house or garden is allowed as well, and it has no risk of making your home items as impure.
In Islam, the two animals pig and dog are najis. There is no exemption for pig, but in regards to dog, one is able to own a dog if it is used for hunting, a Sheppard dog, or for security. In any of these cases, the dog is still najis and related ahkam stay relevant to it. One can keep a dog, but must observe all aspects of taharah/najasah regarding it.
Animals will be resurrected on the Day of Judgement and many animals will be Paradise like the Boraaq of the Prophet Mohammad (SAWA), the Camel-she of prophet Saleh (AS), the dog of the people of the Cave etc.
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