I can feel a lot, but even after 12 years I cannot feel always where each hoof is. Sometimes I get mixed up on the hinds becuase it's a bit counterintuitive;
when the horse's hip pushes your hip up on a certain side , I tend to think that this is his foot going forward, but actually, it's the foot , which has already gone forward, pushing off of the ground and the horse's belly tracking over that foot, so the foot is just about to go back, not reach under , as my intuition wants me to think.
What is often amazing to me is that people are so unaware of where their horse's THOUGHT is. Is he still with you or far away? that is something to pay attention to, in my book.