I'm not quite sure what you mean by inanimate experiencer but the difference I see with those two words is as such. 

Prickle can be used both to describe a _sensation_ and also to describe an _object_ that causes that sensation. E.g. a cactus feels, or is, **prickly** because it **prickles** you when you touch it. 

Whereas I never hear people say that and object is **tingly**. You can describe a sensation as **tingly** but not an object. 

Furthermore the idea of something **tingling** you is an altogether much softer, more gentle sensation than something **prickling** you. **Prickling** implies a spike or a sharper sensation whereas **tingle** is the kind of word you might also use to describe excitement or soft vibrations on the skin. 

>As we walked into the concert every part of me was tingling with excitement.

This expresses the idea of restless animation flowing through the body.

Prickle can have darker connotations, like when something sharp goes into your arm you can say:

>The spine of the rose pricked me