Apparently, humanoids already have a second brain, the gut.
Your make-believe humanoids could just have a more developed second gut-brain system than we currently have.
...even the steeliest are likely to experience that familiar feeling of "butterflies" in the stomach. Underlying this sensation is an often-overlooked network of neurons lining our guts that is so extensive some scientists have nicknamed it our "second brain".
A deeper understanding of this mass of neural tissue, filled with important neurotransmitters, is revealing that it does much more than merely handle digestion or inflict the occasional nervous pang. The little brain in our innards, in connection with the big one in our skulls, partly determines our mental state and plays key roles in certain diseases throughout the body.
Although its influence is far-reaching, the second brain is not the seat of any conscious thoughts or decision-making.
"The second brain doesn't help with the great thought processes…religion, philosophy and poetry is left to the brain in the head," ...
The gut-brain system is incredibly complex and not yet fully understood. We could already be ruled by it more than we currently accept but you could develop the system to be more detailed for the purposes of your story.
Technically known as the enteric nervous system, the second brain consists of sheaths of neurons embedded in the walls of the long tube of our gut, or alimentary canal, which measures about nine meters end to end from the esophagus to the anus. The second brain contains some 100 million neurons, more than in either the spinal cord or the peripheral nervous system, Gershon says.
This multitude of neurons in the enteric nervous system enables us to "feel" the inner world of our gut and its contents. Much of this neural firepower comes to bear in the elaborate daily grind of digestion. Breaking down food, absorbing nutrients, and expelling of waste requires chemical processing, mechanical mixing and rhythmic muscle contractions that move everything on down the line.
Seperation of the two brains, in a similar way to seperating the two hemispheres of our head-brain, could play a more important role in your world. In your world, para-, tetra-, and quadaplegics could all have different degrees of two-brain damage.