Sensual means physically pleasing. It often is used in a sexual context, but is not exclusively sexual in meaning.
Sensual has to do with the five senses, but it comes with a hint of lewdness, a suggestion of sex. Although you could have a sensual meal or experience that doesn’t involve romance, if you want a word that refers to the five senses without any unsavory connotations, use its cousin sensuous.
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