At this stage at least, the recreation of the interaction between that artificial body and the environment will be impressionistic at best...

Like we don't even have a full conscious understanding of what we are made from, or what we need to survive.

How do we 'install' those ideas and that imperative in an agent, when we don't fully understand it ourselves?

I'm not entirely supporting one side or another, but I think it's reasonable to bet against the imminent arrival of AGI at this stage, unless some radical discovery comes to light soon.

And if (when?) that discovery eventually comes, I'd suspect it to be a biological one. But then, who knows...

I don't see why they need the same 5 or more senses we have.

Self-driving cars have rudimentary visual input, proximity sensors, location data, and other inputs.

Right. In what way is a human embodied but not a self driving car.

What is "a body" other than inputs and outputs to interface with the environment, and perhaps a mechanism of perceiving the environment and remembering what was perceived?

The capital T-truth is that no one really knows since we're all observing the system subjectively from the inside.

Many who practice meditation and/or experiment with psychedelic drugs will tell you that there's something in there that's not a computer.

We could assume, as many do, they're fooling themselves; since we can't measure it. Or, we could trust our authentic experience of the real world even when it can't (yet) be measured.

I had the opposite opinion after taking psychedelic drugs.