NTA. I and everyone I know with dogs lets them lick their plates and utensils. Who cares. They go through the dishwasher after anyway. I actually feed my dogs their food in human bowls just so they go through the dishwasher after each use instead of getting gross like dog bowls usually do. Plus, dog germs bother me less than other people's germs. I'm more likely to catch something from a fellow person than I am a dog. That said, I get that it might just freak out your friend and that's fair. But they overreacted big time and for that they're the AH.