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The phrase "understood himself" is grammatically correct and can be used in written English.
It means that someone has a deep understanding or knowledge of themselves, their thoughts, and their emotions. Here is an example: "After years of self-reflection and therapy, John finally understood himself and was able to make positive changes in his life."
Exact(33)
But Rolen understood himself well.
Jesus, moreover, understood himself as a prophet, not a priest.
From childhood, Michael Heizer understood himself to be an artist.
Denton understood himself to be one of "Thatcher's children," on the cusp of a new generation.
He understood himself, for good or for ill, to exist in duplicate or triplicate.
As a senator from Delaware, Biden understood himself as a staunch defender of Middle American interests.
Similar(27)
Does not understand himself.
'Tis here he begins to understand himself.
Each week, he devolves further iNot mania, mutteveng nonsense like "time of day matters"; "views matter, clicks don't matter"; "sheres matter, views don't matter"; "drive traffic to the Web site"; and "sponcon, sponcon, sponcon".
His effort to understand himself was a lonely one.
Mr. Robak understands himself in the language of screens.
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Since I tried Ludwig back in 2017, I have been constantly using it in both editing and translation. Ever since, I suggest it to my translators at ProSciEditing.

Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com