Our perceptions shape the experiences with our senses, literally and figuratively. One person may enjoy the cold, sharp grasp of an icy pool of water around the naked foot; another may not. Different strokes for different folks.
apologies in advance for the word salad.
Sensuality is defined as the gratification or fulfilment from our physical senses, commonly depicted in a sexual nature but not limited to.
I could only find @antonym's of the word sensual that would fit the strictly sexual limitations. Since this isn't the only defining quality of the word, I'm led to believe that sensuality should be viewed as a spectrum ranging from one person to the next, with their own personal perceptions being the determining factor for the weight of the word.
Subjectivity among human beings is something we can drone on about until the sun comes up tomorrow. Let's think about dogs.
Please enlighten me if I've missed the mark with this definition and my take on the word, I'll carry on regardless.

That doggo above looks ecstatic holding that broken stick between his gnashers. Wood breaking down as the teeth penetrate and mark shallow dents into the grain. Gnawing and chomping with complete focus, the earthy scents flooding the nostrils with every jaw clamp.
The stick is now in your mouth as you magically appear on all fours in an unknown back garden. Your teeth grip the foreign object as your tongue rises to the roof of your mouth to avoid the peculiar taste of organic matter (or is that dog saliva?). There appears to be a dog-humanoid standing upright beside you, holding a frisbee.

Maybe that was a bit jarring. But, the point should be clear enough?
I will describe some sensual experiences below, and I'll be rewarding the persons with the best "dog perception" replies in the comments (100 powered-up POB to be won).
I'll spell it out clearly. Write an experience a dog would have inspired from one (or more) of the various sensual experiences below in a comment under this post. Best responses get powered-up POB.

Between finger and thumb, your grip clenches the stalk of the ripe fleshy strawberry, eagerly awaiting the taste. Then, biting down with your incisors through the soft skin, the flavour of the bursting fruit erupts onto your tongue and lips. Tiny seeds of the strawberries outer skin swirl round against the inside of your cheeks as you chew the delight effortlessly.

Your foot taps rapidly against the tiled floor as you look onward at the cashier impatiently, finally at the end of the queue. The knot has already been tied. The thought of unleashing your bladder down your trouser leg gets the better of you. Assuredly, the decision to dart to the bathroom is made; the urge to break the dam has reached critical mass.
The bathroom stall swings open, careless drops ignored in the frantic struggle with clothing. The euphoric release ensues, and a sigh of relief mixed with elation is expressed. Liquid flows as the scent of the poorly maintained cubicle reveals itself.

Soft lips pout as the trickle extends from the silver spoon. You regard the rays of the sun accentuating the golden drip and its amber tones.
Sweet joy wraps your senses when the nectar clings on. Slowly it leaves the sticky sugar trail over your lips. As they part ways and your mouth gently opens, the stretching stream of honey flows inward to your eagerly waiting taste buds.

Lounging mindfully in the field of freshly trimmed green, your ears pick up the tune of nearby feathered friends. Their companions glide in the distance against the backdrop of the sky.
The wind whistles through the air, escorting blades of grass in your direction while your fingers run playfully between the untouched below. Touch, sound, vision, and smell satisfied on your day of rest amongst nature.

