You're going to have to find out for yourself, if you're so curious.
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I'm gonna take a guess here and say it feels hot. Very very hot.
Depending on how hot. Only for a bit as the nerves are destroyed. The body part near the lava that didnt get completely destroyed? Absolutely excruciating.
The pain doesn't always stop when the nerves are severed. https://en.m.wikipedia.org/wiki/Phantom_pain
im not sure this would really apply during the whole, limb extinction event.
It would most certainly apply after.