>>53245528Dog tail is just moving it left and right until it bends at around a quarter circle. Equally so up and down. Cat tail is the same but it bends even more, and the opposite happens with big heavy tails. I'd imagine it feels awkward when trying to combine both motions to draw a full circle in the air.
When it comes to it being voluntary or involuntary, I assume it's like expressing emotions with your face. Where you don't have complete control over your facial features at all times, but it's not like moving them is a totally subconscious act. You could suppress a tail wag the same way one may want to keep a poker face in spite of feeling strong emotions.
I suppose it also would feel like an limb would when it comes to the sense of touch. Prehensile tails are anyone's guess.
Yes I've autistically thought about this question an unhealthy amount. 