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The phrase "we recently realised" is grammatically correct and commonly used in written English.
It is usually used to describe a realization or understanding that has occurred in the recent past. Here is an example sentence: "We recently realised that our business model needs to be updated in order to stay competitive in the market."
Exact(1)
We recently realised how vital it is for menswear to fit easily.
Similar(59)
"One of the problems we've actually had with the semantic web, I only recently realised, is we haven't been doing that". According to O'Reilly, "That's the most hopeful news I've heard in a long time about the semantic web, and I couldn't agree more". He believes getting data online should take precedence over standard-setting: "It's still too early to formalise the mechanisms for the semantic web.
Star Wars and Star Trek are rebooted as if they were windows machines with faulty DLL', Amazon knows how many toothbrushes we need every year, just like Amex did ages ago, and Coca Cola recently realised that advertising on social networks has no effect on short-term sales.
He claims that he recently realised that he had never learned to do long division.
The data centre sector appears to have only recently realised the need for permits.
Meanwhile, his parents recently realised their dream of moving back to Somalia.
He only recently realised that he is seriously claustrophobic, not just about space, but about everything.
He stressed G4S had only recently realised that it would be short of several thousand security guards.
I recently realised that my kids, aged three and five, are most excited by the television, or iPad – or any screen.
I can never resist reading about travel and have recently realised how interesting the Family section is.
I only recently realised that if someone was to say something bad about her, I can't punch them.
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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