With a few minutes of googling the only reference i can find says that Tardigrades have approximately 200 neurons in their brains [1] and their dry weight is on the order of one microgram [2]. They also have a lower count of synaptic connections (from the same paper): >Thus, miniaturisation of the tardigrade nervous system is achieved largely by reducing cell numbers, neuropil branches and the number of synaptic conn…
For contrast, ants have around a quarter million neurons.
This past fall I saw one on the ceiling of my front porch. It had a rear leg pinched between the soffit and the edge of a can light. It was pretty obviously struggling, pulling away with its remaining legs and every now and then buzzing its wings. It was interesting but kind of a dumb 'more powah' response that could be the result of a biological integrator of some form.
I then saw one of the most remarkable things that I've personally witnessed in nature. Another wasp of the same type was randomly flying by, about 6" below the level of the ceiling and along a path that would have brought it no closer than a foot away from the stuck wasp. After flying past the stuck wasp, it took a hard right, circled around and landed near the stuck one. It then proceeded to walk up, grab the stuck ankle (?) of the other wasp and help it tug. They both worked on it for a few seconds, broke the first wasp free (not sure if the foot was still intact), then they both flew away in different directions.
I can build a mental model of a biological automaton lacing together finely tuned feedback loops that cause it to 'act' in a way that supports itself. Extending that to a point where it appears to identify, empathize, re-plan, solve a physical problem then resume prior plan starts to stretch my ability to imagine without some kind of subjective consciousness backing it all.