Well, goats are ungulates and countless zoos have walk-through exhibits with those, but I'm guessing that's not what you're looking for. Deer are also kept in quite a few places in walk-through enclosures. Few in actual zoos; more in animal park for semi-wild animals that aren't much more than forest/grassland with a fence around. However, typically these enclosures have to be closed for a period during breeding where males (stags) become aggressive. Smaller duikers (blue and allies) have been placed freely in rainforest halls. I seriously doubt adult males of true antelopes, wild goat species or wild cattle can be housed safely in a walk-through exhibit.