Is it normal for wild chipmunks to be friendly?

Wild animals that are habituated to human beings can indeed be very tame, but not as tame as pets that are used to being handled. They normally won't let you touch them because in the wild, an animal that is touched by an individual of another species usually means that it has been caught by a predator. Even alley cats that have been fed by humans usually won't allow themselves to be touched, unless they were handled by humans when they were kittens.