Change your question to “is the act of walking hardwired into the brain” and I think you’ll see the answer more clearly.
We (as babies) have the neurons and the muscles “hardwired” but we LEARN how to walk, the coordination is learned, the desire to do it is learned (the baby needs to move to reach the desirable toy, for example).
So sex is the same. The organs are hardwired in their response/function, but we absolutely learn the experience and the drive to do it, not just from observing it but also from what feels good / what seems to make our partner happy.
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