Does anybody really know themselves or others?

I was talking to a friend the other day and I got that feeling like I've always know this person, long before I was born; from another life or something. Sometimes I'll get that feeling when I'm with my a friend or family member, but there's another side to this thought. Does anyone really know us, the real deep down inside person we are meant to be? I've been single for so long and have time to contemplate this kind of stuff and I keep coming down to the same conclusion; life is traveled alone and when we're lucky we have someone to share their experiences and hopes with us but we are in this alone, so it's a plus if you like your own company ;-) So the bottom line, that familiar feeling I experience with people is my hope that someone will know the real me? And that familiarity and connection is what brings us together as humans.