My DH took home a wrap that Peter was wearing in hospital. When we came home the next day I greeted all pets on my own without Peter. Later on when things had calmed down DH brought all 3 pets over to me one by one while I was feeding Peter. We had his feet out of his suit & we let them sniff them. We were very careful to not push them & gave them dinner straight after so they'd associate Peter with something happy!!
So far so good - haven't had any dramas with any of them.
Good luck!!