Note:
What does it mean to understand something? Understanding something is inherently about your ability to make connections with it in other contexts. If you cannot make those connections then you may know something but not understand it. This is the difference between knowing something and understanding it.
This view of understanding doesn't speak to truth but to how useful and actionable an idea is, showing that To truly understand something it should become part of our intuitive system 1 worldview. However, you may understand something through your own lens (metaphysics, historical and personal context, status, etc.) but You can't understand an idea without understanding the worldview of its author.