I am a Noahide and I want to wear some kind of shawl during my personal prayers at home, understanding the importance and relevance of the tzitzit fringes to the Jewish people. I would not want to offend anyone or do the wrong thing by wearing them. I saw a nice shawl without the tzitzit fringes, so can I buy and use this one at home? (I don't want to be some kind of imposter and use it outside to possibly confuse someone if they saw the shawl.)
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The religious significance in wearing a prayer shawl lies specifically in the tzitzit fringes themselves. Technically any garment of four corners can be used as a prayer shawl, so long as it has the tzitziyot on them. As for a non-Jew wearing tzitzit, there is nothing offensive or wrong with your wearing tzitzit so long as you are aware that you do so on a voluntary basis and are not obligated to do so in any way. Rambam, Hilchot Melachim uMilchamot 10:11 states that a non-Jew is permitted to perform most mitzvos for the purpose of receiving reward.