Yes they do.
Feelings are created by chemical processes in the brain, and most creatures with brains are able to feel emotions of happiness and sadness.
Apparently, in some animals, it is extreme. They either feel ecstatically happy or suicidally sad.
Anyway, if you mean can they think, for example, could they create a scheme, then perform their plan to some other desire - no. They might appear to, and this can be seen by some people as proof, but what they are seeing is just cause and effect, with they filling in spaces that don't need to be filled in.
Aaaanyway, I digress. Slightly.
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