Anatomy of sensory/afferent nerves

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Nukleos

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I don't need every single exception to this, just the "general" rule.

In our peripheral nervous system, afferent neurons carry external stimuli to our spinal nerves which then carry the information to our brain.
Whats of interest to me is the structure of the connection between the terminal afferent nerve ending (e.g. merkel touch dome) and the spinal nerves.
Obviously, they are connected via axon(s). But is it a chain of neurons (connected via synaptic structures), or is it just ONE big axon, leading all the way from the terminal afferent nerve ending to the dorsal root ganglia (as far as my research on the internet goes, thats where our anatomical systems usually let the sensory neurons of the PNS begin).

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