Guts are pretty dexterous and could be made more dexterous. Maybe with microbes for cleaning, in a human gut, the surfaces aren’t flat but have stripes that are almost prehensile. If a gut entrance point was larger and wider but still able to grasp as well as clean, it could be a bona fide prehensile organ.
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Intestines? I really can’t see any evolutionary pressures that could cause this, seems like a waste of energy spent maintaining the necessary muscles and structures.