Nucleus ambiguous is located in the ventrolateral medulla and contains the motor neurons of CN IX and X; they innervate the striated muscles of both the larynx and pharynx 

– lesions in this region can lead to dysphagia, decreased gag reflex, and hoarseness

 

Nucleus solitarius receives sensory input and provides output to the sympathetic and parasympathetic ganglions located in the spinal cord and medulla.