Do we have inner senses?

Yes we do have inner senses. Subjective phenomena like a thought or emotion does not have a direct physical impact on us in the same way a table does when we touch it. We may not immediately experience a thought through our physical senses, but we do experience the full dimensions of that thought through another set of senses.

When we use our imagination we actually exercise five inner senses (as well as other inner senses that science has not yet studied, like telepathy and intuition).