So being a non breeder type I don’t have experience with this but it is wierd to think that I might have learned the feeling of needing to go to the bathroom as it just feels something akin to hunger. Which now makes me wonder if we had to learn that hunger means we should eat?
As a breeder, yes babies learn that hunger is soothed by consumption. They have an innate sense to suck to sooth and most can suck and swallow. If they are uncomfortable from hunger (or anything else) they suck and if there’s something to swallow they do. Quickly they learn that if they continue swallowing when not hungry it is also uncomfortable, so many learn to either not suck in the same way which might release milk from a breast or they enjoy a pacifier or thumb instead.