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Motor Neurons vs Sensory Neurons and classification. Are motor neurons part of the CNS?

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So motor neurons cell bodies are located in the spinal cord and their axons leave to synapse with the muscle. SO they are part of the Central nervous system right?

we also have spinal nerves that synapse with sympathetic nerves at ganglia. which makes the classification of SNS and PNS nerves as being part of the Peripheral nervous system logical.

sensory neurons are peripheral because their cell bodies lie outside the spinal cord?

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