The answers you’ve gotten don’t really get at what’s actually going on. As far as the nerves controlling your body and feeling sensations, you have have two different nervous systems. The nerves controlling the ‘outside’ of your body (like controlling your muscles and feeling things touching your skin), you have the somatic nervous system. For things on the ‘inside’ (like your organs), you have the autonomic nervous system. The autonomic nervous system is largely unconscious. You can’t consciously move your intestines like you can move you arm. You can feel things sometimes from your autonomous nervous system, but it sucks at feeling exactly where something is coming from exactly. So, you get a stomach ache that feels kind of all over in your belly, but you can’t tell exactly where. Or, for your question, you can tell that you need to pee. But when you do pee, you can’t feel exactly where the sensation of peeing comes from
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