So, why isn’t hear an action verb, like its sensory siblings? I can write, “That feels disgusting” and substitute feels with looks, smells, and tastes, but “That hears disgusting” doesn’t make sense; we replace hears with sounds in such constructions.” Why is this so?
For some of the senses the same word can be used in both directions, for example "I had to feel my surroundings with my hands, because it was so dark". "The coat feels very warm and soft". "I smell some rotten beef in the fridge". "The beef in the fridge smells rotten".
That's not the case with sounds. "I hear the music playing". "The music sounds very loud". Different words are being used.
With your eyesight, there are different words that can be used. "I see my friend arriving". "I look at my friend". But "my friend looks very tired", not "my friend sees very tired".