You sighted people really confuse me. Are visuals the only thing you experience? Are they the only things real to you? Do you have other senses? Or does your sight have so much control over you that you cannot turn it off in your mind and try to imagine other ways of conceptualising things? Hmm.
Regarding seeing and colours: no, I guess it's not possible to fully understand something you have not personally experienced. It's kind of like how someone who hasn't experienced gender dysphoria cannot understand it as fully, but they can still know the basics and respect the experiences and feelings of those who deal with that. Transgender people are valid. And you sighted folks are valid, too. Although perhaps we should add another mental disorder that, among other things, makes one so bad at memorising places in non-visual ways that they can't find a toilet in the dark ... ahem, I mean, you're totally valid.
OK, but jokes aside, there are a lot of different ways of experiencing the world -- perhaps each one of us has a different one -- and it's very hard to talk about them because for each of us, ours is the default, the "true" one. I suppose you could get an explanation that sort of made sense from someone who went blind later on, but that one would likely be mainly focus on the visual things they "lost"; far too few people have started out blind and became sighted later on to tell us what they lost that way.
It is perfectly possible to construct an understanding of whatever reality is through one's other senses, descriptions from others, general knowledge, etc. I don't need to see a tree to know the smell of the forest, the rustling of trees, the rough but supportive trunk. Although as someone who still has the tiniest bit of sight (don't ask me to describe how much; I've always seen this way), I can certainly also see the tree's dark tallness.
As another example, look at this post where I attempt to poetically (and sarcasticly, because there is no joy or kindness in the unending darkness in which I dwell, only snark) describe
$1.
And that is just a glimpse of my experience, as someone who still has most of the senses. Here is one sort-of-but-not-quite related article I enjoyed reading recently, from a deafblind writer. It is wonderful what realities the deafblind community has been able to create by not being as bound by the sighted model of doing things as we, unfortunately, still are.
https://audio.mcsweeneys.net/transcripts/against_access.html
Edit: the one part of reality I will never be able to understand is how properly spaced line breaks work. Damn you, Reddit.