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They definitely do. I had a cat from a kitten, my relationship at the time broke up, I walked away from my flat and everything. My Dad took my cat while I sorted myself out, but in the meantime they became quite attached to each other.
I didn't have the heart to take him back so left him with my Dad, over 10 years later he is firmly his cat and doesn't allow anyone else near him, apart from me, I only see him a couple times a year but he 100% remembers me and is all over me when i'm there.
Just finished a 2 week ride around Scotland at my old uni housemates house.
I lived with them 12years ago when their kitties Othello and Tachikoma were just kittens. Haven't seen them in at least 5 years but the furry little sods appear to still remember me and won't leave me alone.
Didn't think cats had such good memories.