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Is a question asking about "the real-world circumstances surrounding the historical association of 'familier' (French) with the concept of Magical Familiars, centuries ago," on topic for this SE?
Question stemmed from this
I'm leaning towards yes, but I'm about the most permissive user on this stack, so a "lean" from me is probably not a good sign.
Basically, I think you are on good ground if you ask where the concept came from in Western folklore (or if we even know that).