We are not required to have insurance on pets though I've heard of some areas that require liability insurance for certain breeds of dogs.
No legal requirement about chipping either.
Cats and dogs are required to have annual rabies shots, then be registered with the county. The rabies shot makes sense for pets that go outside. The registration is a way to collect money as far as I'm concerned. For my cats that never leave the house I don't get them rabies vaccines. They never leave the house so they are never going to be exposed.
There are low cost spay/neuter clinics. The county shelter will spay/neuter cats and dogs for free.
Any pet adopted from the shelter is spayed or neutered, tested for heartworms (and treated if positive or started on preventative if negative), tested for internal parasites and treated if necessary, given all shots and microchipped. I got Hazel for free because I'm a senior. Regular adoption fee is like $20.