But when you go to start moving it, it will instinctively align in the right direction to accommodate without you having to look down and go “ok right foot, rotate 18 degrees to the left before moving.”

This isn’t about your conscious knowledge, it’s about your innate subconscious ability to move relatively accurately through space without having to be explicitly aware of where they are and how they’re oriented. If you didn’t have this 6th sense, it would take multiple attempts and/or visual tracking to do something like closing your eyes and touching your nose with your index finger.

Regardless of how you consciously infer limb position, your body generally know where things are and how to move about.