Did you ever get a chance to when you were older? Maybe not knights' level horsing around, but going for a trail ride or something?
There aren't many people in my world that have really taken to it, so I can understand. And how enjoyable the zoo is really depends on the zoos. Some just make you... sad. It's obvious the animals aren't happy there. But the zoo back home, it's nice and outdoors, big enclosures. I got at least once a year. More like once a month if I have the time.