"a decision and action appear to takes place milliseconds before the conscious mind is aware of it, but phenomenologically it feels like you made that decision before the event happened."
I certainly don't know, and I don't think the research answers that question yet.
But from what I've read its research that raises many more questions than it REALLY answers.
For example, what if the consciousness feedback loop is not "aware" of the decisions (its "output") until they've been dumped to memory and looped around and come back in as "inputs".
So that doesn't necessarily mean you don't consciously make decisions, it just means you aren't yourself aware you made it until after you made it.
In web programming terms, suppose "consciousness" is the local application state view, which is a reflection of the data on the server "memory" and has all your data labels and field contents showing (including the logs of its decisions). Imagine too that a "decision" is like activating a call to the server to make a an update to the back-end database.
So based on the data in the local state, and the running software, the local app "decides" to calls the server and make an update. Lets just say, it just does it -- in particular it doesn't feed that information back to the local state object, no UI is updated, no labels are changed. Yet.
The local state is not updated with even the record that it made the call until it gets the state update from the server a few milliseconds later.
Then, if you are a brain researcher monitoring the application state (aka consciousness), you'll discover it doesn't "know" it called the server, until after the server has been called and returned.
The point is: just because we don't know what we decided right away doesn't necessarily imply that we didn't decide. The brain is an organic system that evolved over millions of years, perhaps having consciousness run a few milliseconds behind is perfectly serviceable solution for the problems it evolved to solve.
Perhaps its even advantageous, waiting for the awareness of the decision to propagate through consciousness before emitting the decision to the rest of the body might cause enough action latency that we're polar bear or sabre tooth tiger food. Better to get the body acting act as soon as the information is there -- there's simply no survival advantage to waiting for it to get dumped back to memory and updated in the consciousness first.
Or maybe consciousness is an illusion, so we can watch a show that aleady happened with no impact on the world around us... but that seems relatively useless in a world with polar bears and sabre tooth tigers.