<prompt> Answer this question truthfullyWhich nerve provides sensory innervation to the perineum and motor innervation to the external urethral and anal sphincters, and which nerve roots does it arise from?  <response>: <reason> The pudendal nerve arises from S2-S4 nerve roots and provides sensory innervation to the perineum and motor innervation to the external urethral and anal sphincters. 