> we literally don't have the language to figure out how other people perceive things.
you are right, talking about mental processes is difficult.
Nobody knows how exactly other person perceive things, there is no objective way to measure things out.
(Offtopic: describing smell is also difficult)
In this thread, we see that rudimentary language for it exists.
For example: lot of people use sentence like “to hear my own thoughts” and a lot of people understand that fine.
Or maybe I'm wrong and people have just been using this term to describe mental shit all along!
That's kind of my point, though, we literally don't have the language to figure out how other people perceive things.
Perceive at least disambiguates itself from the senses that aren't related to thought!