In Japanese, is "shiru" used for both to know facts, and to know people?
In English you use the verb "to know" for both knowing facts, and knowing people, but when I learned German there were two different verbs for the individual cases. In Japanese I think it's just the same verb, but I wasn't sure.

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yep you can use shiru for both facts and people

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知る（shiru) can be used for both facts and people.
It can be used for feeling ashamed and understanding as well.

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Yes, it's the same in Japanese.