No it is inferred.
You are inferring 3D positions based on many sensory signals combined.
From mechanoreceptors and proprioceptors located in our skin, joints, and muscles.
We don’t have 3-element position sensors, nor do we have 3-d sensor volumes, in terms of how information is transferred to the brain. Which is primarily in 1D (audio) or 2D (sensory surface) layouts.
From that we learn a sense of how our body is arranged very early in life.
EDIT: I was wrong about one thing. Muscle nerve endings are distributed throughout the muscle volume. So 3D positioning is not sensed, but we do have sensor locations distributed in rough and malleable 3D topologies.
Those don’t give us any direct 3D positioning. In fact, we are notoriously bad at knowing which individual muscles we are using. Much less what feeling correspond to what 3D coordinate within each specific muscle, generally. But we do learn to identify anatomical locations and then infer positioning from all that information.