What you said is very interesting, but I also believe you're overthinking this in a mystical way.

It's true that we (living creatures) are learning from physical interactions and experiences. And this is especially true at the early stage of our lives when basic sensory perceptions are a prerequisite to living in a physical world and interacting with it.

I think an AGI wouldn't need all of these physical senses for a form of intelligence to emerge, although it would surely help.

What it might need is some kind of pleasure and displeasure implemented at its core. There is no efficient learning process if there is no positive or negative feedback. No pain no gain!