Stims always happen or my body starts to position itself to stim at least a moment before I'm aware of an impulse or movement at all, and I've read that that's normal for stims, so they're involuntarily initiated, and if you fail to notice that you're stimming for some time, they'll be involuntarily sustained, however when you're aware of them they can be voluntarily stopped. Very often this causes stress and/or another kind of stim automatically being initiated.
From what I've heard about tics, you feel the urge building up before it comes out, and eventually it can come out despite any maintained efforts to hold it back, like a sneeze. A stim doesn't come with any warning sensation beforehand as I said, you don't know it's coming until your body is already moving to do it and can go minutes without awareness of it but once you notice it happening you know that you're more comfortable doing it than stopping it, and if it does come out once you've noticed it and begun suppressing it, it's not like a sneeze that bursts free despite your maintained conscious suppression, instead it came out because for a moment you forgot about it. It takes enormous concentration to keep the relevant muscles still and you can't think about anything else for even an instant or it will start again.
Plus, I've seen TSers describe needing to let particular tics out that they've been suppressing for too long, all at once when they get the chance, and more violently because of the build up. I don't think there's much equivalent for that with stimming. One stim might be preferred over another at a particular time, but if you suppress one, another will come out and take its place automatically or deliberately as long as you have another to fall back on. It's not the case that that one specific urge has to be acted on now or later; you can replace it with another, not even on purpose, and later you'll only need to stim if the situation or your feelings are still making you want to, not because you suppressed it earlier and it's hung around waiting.