The Player's Handbook on the skill Ride says, "If you attempt to ride a creature that is ill suited as a mount (such as most bipedal creatures), you take a –5 penalty on your Ride checks" (80).
Is there a class feature, feat, magic item, or other rules element that allows a rider to avoid suffering this specific penalty? (To be clear, the goal is not to make the ill-suited creature into a suitable creature via an effect like the polymorph spell or whatever but to enable the rider to hop onto any creature and ride it without penalty.)
My research has, I think, eliminated official feats, feats from licensed products, official class features, and official prestige class features, but I'm happy for answers to confirm or deny my research. Official sources are preferred for this rules element, but, if it can't be found in official sources, licensed sources and third-party non-Pathfinder sources are acceptable.