Does Darth Vader FEEL His Cybernetics - Star Wars Explained

In Star Wars, Darth Vader had almost his whole body replaced with cybernetics, prosthetics and everything else artificial on his burnt post Mustafar body. Could he feel them? What about in newer versions? Older versions? Palpatine definitely wanted him to feel pain, so it raises the question for the new canon, will he upgrade his suit going forward?

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