I have used the words “discern”, “perceive” and “witness” when I have been talking about hearing the voice of the Father.
Roman 8:16 is another example:
Rom 8:16 The Spirit itself beareth witness with our spirit, that we are the children of God: KJV
The Holy Spirit bears witness in our spirit we are the children of God.
You may never hear Father’s voice telling you that you are a child of God but there is a witness in your spirit. You can feel God’s presence and something testifying on the inside, in your spirit, that tells you, “Yes, you belong to God. You are God’s child.” Maybe it is not verbal but there is a witness there. It is the Holy Spirit bearing witness to this truth.