Sense of Touch

[ezragray]

At the risk of sounding simplistic, I wonder how old one could say each sense is evolutionarilty speaking. I've read that the first sign of what could be called an eye appeared 550 million years ago but what could be said for the other 5 senses? I've read that hearing is in many ways an extension of the sense of touch, could this be the case for other senses (be extensions of others)? How old could we say the sense of touch is? Assuming it to be a more basic sense, how basic could a lifeform be while still experiencing what we call touch?

Any insight would be greatly appreciated. Thank you.

Edited February 12, 2018 by ezragray
clarification