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The Uber driver is not a taxi driver in the sense that (as defined by pending SB984) TNCs are not common carriers.It's illegal to refuse anyone with a service animal. You're a cab driver, know the laws. The customer doesn't need to provide any documentation either. You as the driver are allowed to ask 2 questions.
1. Is this a service animal?
2. What service does this animal provide?
Past that if the customer says yes, you must take it regardless if he had a giraff or mouse.
Laws are laws bro. You're not exempt.
Strictly speaking, as a taxi driver, I do not personally need to take a passenger with any kind of animal service or otherwise. That is how my particular company operates. If a given driver is has a fear of dogs or an allergy or simply isn't comfortable with any given situation, they are not forced to accept any trip offered them. The company itself does need to find transportation for the pax and their service dog and if a driver declines a call after being told a dog is involved, dispatch simply asks the next closest driver. "How do you feel about dogs??"
The way Uber handles this, which is to put the burden on the shoulders of individual drivers is in order to stay clear of anything which could suggest that maybe just maybe Uber is in the transportation business and maybe should be thought of itself as a common carrier.
Uber's fear of regulation makes their handling of this issue a bit clunkier than one would typically expect of a TNC. The burden is on the driver.