I really like the focus on embodiment, maybe because I grew up in a church where there was an attempted complete separation between the body and the soul, which had very deleterious effects on my self-esteem in particular and psyche in general.
No, we're not a soul piloting a body. No, the soul cannot control the body (if it did, I wouldn't be short-sighted, for example). That belief, that I was a pure soul incarnated into an imperfect body, did so much harm to me, that I guess I'm particularly sensitive to the reality that I am absolutely embodied, and I cannot separate some essence that would be the True Me from my body.