To be fair in EU zoos and the UK you do have certain zoos even within the EAZA realm that have similar programs. You have to realize that you are mixing issues.
You have zoos that do indeed separate the animals from their mothers pre weening. Most of these zoos are roadside and try to mask animal welfare for exploitation. However plenty of zoos use animal "shows" for the benefit of their animals (using orphans or rescue animals). Only showing natural behavior and medical check up commands, that benefit the animal. You also have to separate the walking on a leash. Most zoos allow animals to explore the zoo on a leash when no visitors are there. However this does depend on the species the zoo and the individual and so on.
Even if an animal has the best enclosure possible, it can be enriching to explore the zoo and interact with other animals not just for the animal walking, but the animals watching as well. A change of environment allowing to explore smell and move can be beneficial. If we realize that we are biased as humans to project our own thoughts and feeling on animals(Anthropomorphism) we could move past what we think and what is actually beneficial to the animal.
To come back to the porcupines their quills are like hair so wearing a holster to go for a walk are not an issue. I would say try it out try as much out as you can. You can buy dog toys and a ball even. It's always beneficial to join groups of zoo keepers for inspiration and to exchange your ideas and findings. I would recommend some scratching stages, you can use brooms, and wood. You can also use paper and cardboard to pack veggies making pinatas or so. Adding branches of certain trees are also beneficial, willow would always be a favorite. Adding some different substrates like a sand pit, some grass and vegetation is important also look to add an area with shade.
If you have some questions or would like some papers you can always ask me.
And finally check this best practice guideline out
Husbandry Standards For Keeping Porcupines In Captivity
Good luck!