That is the same paper I was going to offer.
Note in figure one that while there will be individual differences between two people - they both ground their language learning in personal experiences in their somatosensory cortex. This is the most basic form of shared experience; they both have bodies that work about the same way.
Several posters in this forum want to strip away the messy biology and go right to a “brain in a box” without a body or emotions, seeing these things as unnecessary details.
I often wonder how hard it will be to simulate the semantic grounding in a body that all living things have as a base for their cognitive processes - without a body. I usually reach the same conclusion; that approach will end up having the same flaws that are usually called out in current AI efforts - no common sense. That is - no grounding in the things that “everyone just knows” as part of the decision process.