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It depends exactly how precise you want to be, but a puppy in the second/third week of life will start to urinate and defecate away from the nest, so clearly this is already forming neurologically then. Think eyes opening - 12 days or so, exploration of environment, new textures, scents, energy expenditure, the weaning process beginning and so on.No, sorry, that's not what I mean.
What I mean is at what age does their nervous system develop so they can conciously control where and when they pee and poo. For humans this occurs between 12 and 36 months. It cannot occur untill the nerves and muscles have deveolped significantly. I'm assuming it's the same with dogs (being mammals and all that). My pup is clean and dry 90% of the time, but that, i'm pretty sure, is because I am predicting when he needs to eliminate, not because he has the muscle and nerve development to retain his waste untill a suitable place and time become available.
I could be very wrong about this. I'm putting 2+2 together.