I have and I have a k9 companion. Haven't tried the real thing but I felt his and his is harder than the toys. They look similar but Iprefer the toy since he's a wildcard. Dunno how he'll react during. So far I give a helping hand.
most toys are way more bendy than the real thing, no bone and all that. I find that the knot feels similar but when a good boy is thrusting in me it pushes on my walls a lot more for a more intense sensation.