Difficult to tell you that I have seen a loved one because not so. However, I have had at least two audio events where I “heard’’ THEM.
however, one three different occasions in a very short period, I had the perception that my deceased Dad was in the passenger seat of my car and that other drivers passing by could see him though I could not.
Though I had immediately perceived it was my Dad riding shotgun, I was not panicked. I knew down deep that I could not let loose because I was driving in highway traffic so I had to maintain control of myself and my car.
In the first of those instances I heard my Dad call my name aloud in my empty car.