I do think you can experience something fully. Even if you don’t have the words to describe it. There are some things where you have the most amazing experiences but you cant put it into words. Or sometimes you might see a piece of art but not be able to describe it.
I think we aim to improve our vocabulary because we need to know words. They are a part of everyday life and we may even need them to explain an experience.
I do think there is a connection between the development of our vocabulary and emotions. If you cant explain an emotion, it doesn’t seem as full. If you know how to discribe an emotion, than it is easier to feel.