Here’s a perspective on it: Suppose I drop you naked in the wilderness. You have to try to figure out a good place to sleep. You will find nature is full of pointy rocks and sticks and things. These are not good for your skin.
Suppose you then find some animal furs. The pleasant feelings will tell you that these are good materials. They will protect your skin, cushion you from harm, and keep you warm. Even an infant understands that.
Liking soft things is a survival trait.
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