Have you ever done empirical test to validate your senses?

Yes, every time you go to, say, an optometrists/ophthalmologists, or audiologist. There are even things you can test yourself, like colour blindness. These test were designed by comparing the experiences of large groups of people and finding a shared base line or some other commonality, and the exceptions to those.

Humans are millions of years of evolution in the making, we would never have got to this point if we weren’t at least perceiving the basics of the world around us (what we can see, hear, smell, taste, feel) in the same way, if we didn’t, communication would be impossible - never mind language couldn’t develop, but just think about even with language, how heated some people can get about the things we don’t perceive the same, like taste, the best example being coriander/parsley being soapy to some but not to others (people could, and have argued over this for years, not imagining that this plant that tastes delicious to them could ever taste too horrible to eat to others. It is only recently that a genetic factor has been discovered that actually proves that some people taste these plants differently).

You can see this even in our interactions with animals - pets will smell our food, cosy up on our comfy blankets, and even if they instinctively think it’s prey (at first anyway), that doesn’t change that they’re playing with the toys we give them. They clearly communicate with each other, studies show that this is in much more depth than previously assumed by many, which proves they also share at least some perception of the world not only with each other, but with us, because they communicate about our surroundings with us too.