Puhleez,
Rich had a pet "wild" racoon for years. They named it, it had the run of the livingroom, and ate spaghetti regularly (died at about 25# in a plate of it with garlic breath).
If that racoon in the vid was wild and comfortable enough to be near that kitchen as it was, I don't doubt that it would have been comfortable reaching for treats.
Actually, I don't think there's any such thing as a domesticated racoon. They're all wild! I guess it's a matter of how comfortable with humans they get. Same with pidgeons and squirrels at the park, or chipmunks in the yard!
Chuck