Your brain interprets different chemicals to mean different things. It can then feel things based on how it’s “trained”, either consciously or by instinct.
Taking your example, your bodily wastes are toxic byproducts of you being alive. Failure to remove those wastes regularly will cause them to build up in your body, potentially leading to illness. In long distant history, the animals that ignored their bladders/colons got sick more often and died more often than those who interpreted those signals as “uncomfortable” or “bad.” So their brain’s raining, what we call instinct, carried over to their offspring, who passed it on to their offspring, and so forth.
You can train yourself to overcome it or ignore it. Babies and toddlers will pee whenever they feel the need, while you know that you can hold it until you are in a more appropriate environment; same for house training puppies and dogs.
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