Not sure. I doubt it is a kiss in the sense that humans kiss. But touching is very much a part of mothering a newborn in mammals. Dogs like their newborns to help keep them clean, and that is a stimulation that also causes then to urinate. Newborn pups cannot pee on their own… they have to have mom lick them to trigger it. I’m assuming that there may be similar reactions in other species. Probably not making the baby giraffe urinate, but some sort of bonding between the two.