If you look at any beginner movement class, you'll see widely-varying degrees of bodily awareness. However, regardless of how someone moves, with a little bit of cueing, anyone can feel if they are in contact with the floor or not.
You don’t need skill or imagination to sense your contact with the floor. You may not be paying attention to it most of the time, but it doesn't require anatomical awareness to grasp what 'weight-bearing' is or to notice which of your parts have the most pressure.
Weight bearing is a constant thing (unless you are temporarily airborne, space traveling, or swimming, you are bearing weight, somehow).
Yet, the details of rolling contacts are rarely zeroed in on outside of higher-level movement environments. But...they could be.