I stuck plastic forks around mine to keep animals away. It worked and then I was able to remove them after a little while, they seemed to give up or lose interest.
I use cayenne pepper powder sprinkled around everything in the spring, then I put down shredded Irish Spring bar soap on top of that. They seem to stay away, so do the rabbits and squirrels. Never heard of them going after succulents, nice young shoots, yes, not tough succulents.
I've used coarse ground black pepper sprinkled on my tulips and bulbs to keep the bunnies away... maybe it'd work with chipmunks too?