eli5 What is instinct? how does It develop? how does It get inherited?

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I’m reading a lot about insects, bahaviour and epigenetics lately.
Until not so long ago we believed insects didn’t think at all and just responded to stimuli using instinct, but still what It Is? And how does it arise?

In: 3

Instincts are a set of behaviors and to stimuli that are build into the structure of the nervous system, rather than learned or conditioned through experience.

They come into being via natural selection when a mutation produces a behavior or reaction is favorable towards repeoduction.