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Rabies exposure is an occupational hazard for veterinary professionals, and preventive measures are necessary to protect veterinary teams.
www.avma.org
However, unlike people, most states will not license a pet based on a titer. And even with an "acceptable" titer, and exemption, a pet who bites or gets bitten may be subject to a long "jail" term (quarantine) or worse (euthanasia).
A titer value is largely a measure only of exposure - and recent exposure at that. A low value only means there has not been exposure - or response. I'd say no need for the shot - I can say that; I'm not the vet
Rabies is a killed vaccine, and full immunity is not developed with only one vaccine. It then makes sense if 0.2 is below the lab normal. It depends on your goal. If you want your dog to actually be immune to rabies, a second vaccine is needed. My neighborhood has a high rate of rabies so if it were my dog I'd get the second shot. If you are in a very low endemic area, then maybe not needed. If you only need a dog license, if your municipality will accept that titer in lieu of vaccine, then you're all set.