Taming a chalicotherium is pretty easy all you really need is a jar of more of beer IF your taming speed in your game is set to default or fast and full on ghille armour. When you encounter a chalico make sure to be in the crouch position (press the right joystick) and just sneak behind it and feed it the beer. Make sure to put the beer at the end of your hotbar! I made that mistake many times and almost got killed
To tame this creature you have to passively tame it, the best way of doing this is to put on a full set of ghillie as that supply's stealth, then you Aproach it from behind crouching and Feed it a beer!