Does esotericism make sense in this context or is there a better word?

So I’m trying to find a word/phrase that fits the context of like "a knowledge that can only be truly understood by lived experience", it seems like ‘esoteric’ kind of fits, but from what I’ve seen esotericism has more to do with educational specialization instead of just like lived experience.

Some examples of the context I’m talking about would be like: the perspective of someone who suffers from mental health, things like being poor/impoverished, being in an abusive relationship, etc.

I’ve played around with words like ‘wisdom’ and ’empathy’, but they don’t really seem to fit.