If you look at anything you can probably tell what it would feel like if you licked it, despite you probably never licking it before.

The ability to extrapolate what something would taste/feel like from mere looks is a learned one.

Toddlers don't have it yet, which is why they're stuffing everything into their mouths.

You might not consciously remember licking a carpet, but the part of you that's holding up the "dusty", "textured" and "CRUMBS!!" signs does.