You do not see, hear, taste, or touch the world “as it is in itself.” You experience the world as filtered and structured by your senses and mind.
When you see an apple, for example, you don’t encounter its thing-in-itself. You encounter a phenomenon, a bundle of color, shape, texture, and smell, arranged in space and time, processed by your nervous system and interpreted by your mind. The apple is as your mind allows it to appear, not as it exists independently. Your senses deliver signals; your mind organizes them according to the forms of intuition (space and time) and the categories of understanding (causality, substance, quantity, etc.).
So what you see, hear, taste, and touch is experience constructed by your mind from inputs supplied by reality, always already shaped by the lens of cognition. The “raw” world is never directly accessible.
You do never contact the world; you meet the world through the scaffolding of your mind.