Nothing in the rules ( core rulebook 2023) says it's possible. So it goes down to specific rules for pets.
This being said, in the book of outland, it's the pet who give the skill to the brute. So millisaurs give the beastmaster (brute) infiltrate. If the brute choose another pet it doesn't get the inflitrate skill. tha makes me think that no if they don't have infiltrate by themselves they can't infiltrate with their owner.
SKILLS
A Beastmaster has the Fearsome skill. They also gain a skill based on the type of beast they specialise in
as follows:
• Wasteland giant rats – Dodge skill
• Millisaurs – Infiltrate skill
• Ripperjacks – Catfall skill
and p 86 of the core rules none of them have infiltrate available .
EXOTIC BEASTS SKILLS
By their very nature, Exotic Beasts are unable to utilise many of the skills detailed in the complete skill lists. Therefore, when an Exotic Beast gains a new skill, roll a D3 and consult the table below:
1 Catfall Bull Charge Counter-attack Backstab Berserker
2 Dodge Crushing Blow Disarm Evade Fearsome
3 Sprint Iron Jaw Step Aside Lie Low Nerves of Steel
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