I'm a catholic, and what I have been taught about heaven and hell and whatever is between them is that they are not in a sense physical places; they are the states in which the soul becomes due to how the soul perfomed in their past life.
If the soul stayed in sin and never regrets its wrongs, the soul falls into a state of suffering forever , away from God.
If the soul lived a life respecting God and deeply regrets wrongs it might have done, then the soul goes into a state of peace, near God.
It's a very complicated thing but no one knows what happens after death, so feel free to believe whatever you want. I believe that animals have souls too so yeah, they can go to heaven or hell.
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