Lucid sensations feel completely real when I'm focusing on them. I summoned and ate a meat pie recently and it tasted completely real (I was lucid, but not thinking all that clearly. WTH did I summon a pie? I don't know...)

You can certainly feel things you haven't experienced in real life. Your mind creates sensations it expects to feel. So when flying you can feel the wind rushing past and such, I also feel support around my waist and legs and this is how I move myself, by moving these supports.

When riding a Rhino you will feel what your mind expects to feel. If you've ridden a horse IRL, then it'll probably feel like that but harder and rougher.

You can even have sensations that are impossible in real life. Like moving objects mentally, I can actually feel a pulling and pushing sensation in my mind as I move an object. Or moving through solid objects. I feel a strange new feeling in the part of my body that is passing through another object. Its a feeling that I haven't felt in real life and so its almost impossible to explain.