In the past 5 years, no, in the next 5 weeks, possibly.
If there is no deal in the offing, even though Parliament has agreed there might be, then the UK must wait to see how the EU declares the UK's status. There are no guarantees at present.
If the UK is declared a Third country because no deal has been agreed, even though transitional arrangements will apply to businesses, it may be that asvregards animal movement the EU could insist on proof of antirabies status as regards the blood titre of antibodies. This MUST exceed 0.5mcg/l from memory.
This can only be determined by a blood test from an approved lab (the WDA would exclude Russian one's then....🙃
which must be more than 30 days since certification. In France it currently takes 14 days to get such certification once the blood sample has been submitted (cost for us was 80€).
That will be required as proof before the animal can leave a UK port for the EU. Predumably the current worming before leaving the EU for the UK will continue ftb.
We should hear more after 31 January and then details should be certain before the UK totally leaves on 31 December as regards the outcome of any deal.
That is not meant to be alarmist, merely to raise the thoughts about the blood titre which are mentioned repeatedly in the UK GOV website.