Why can’t we feel friction between our muscles and skin?

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I ask because there’s a mole on my arm that always stays in place despite my muscle contraction right under it.

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Your muscles aren’t directly connected to your skin, there’s a bunch of intervening tissue layers called “fascia” that keep bundles of stuff together and let different bundles slide past each other.

Things stuck to your skin, like a mole, will stay in position relative to your skin. The muscles can slide relatively freely relative to the skin.

because you’ve experienced it for your entire life, so you have become desensitised to it. You wouldn’t know what it would feel like without friction.