I foresee a future where prosthetics and XR hardware share mutual advancements and use simulations as a test bed.
An actor that changes temperature is a heater or maybe something like a peltier element, that can heat and cool. A sensor is the opposite: a thermometer that measures what temperature is somewhere.
Needless to say these are fundamentally different technologies. Sure, you need one to develope the other: e.g. to create a temperature sensing skin with high spatial resolution, you will need to generate precise spatial temperatures to test the whole thing.
XR haptics, on the other hand, convert electrical signals into real world sensations.
While the two technologies are fundamentally different, they are also complementary. The process of 'serializing' and 'deserializing' analog touch data into a digital data storage format has multiple cross purpose applications.
To have an actuator that is useful to measure you skin sensor, that actuator does not only need to be complimentary, it needs to be better than the sensor (otherwise you're only measuring the flaws of the actuator). So quite often you will need to take a different approach than just a complimentary actuator/sensor-pair and make one of the two a specialized overly accurate and incredibly pricey fixture.