We see in synthesized 3d (if we’re lucky and only at short distances if I remember right), although having only one viewpoint makes us limited. (we can see multiple sides of a 3D object only in a series of 2D panels).
But, we can manipulate in 3D just fine in our minds, going to any sides, through it, inside out, split apart, squished, transformed into other shapes, colors and textures.
So, in our minds, we can manipulate 3D more than we usually can in with our external senses.
SO with that, could immersion in an enhanced 3D scape which can give us similar capabilities as our imagination via virtual reality and computer control, allow our imaginations to begin to explore 4D?
I think so. It might take training but I think so.