Animals must be aware of the passage of time because, squirrels for example, prepare for the winter by collecting and burying nuts. They must have some innate awareness of a future event occurring (winter) for them to prepare for it. I can't imagine that they just bury nuts out of instinct, not knowing why they are doing it, without some perception of present and future.
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As far as we know it's instinct.
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My cat also knows when its almost his dinner time, but then he is probably more intelligent than me so that's hardly surprising!