Our senses evolved to give us a view of the world around us that is best suited to our efforts to survive and reproduce. It seems likely that our senses would evolve to give us a realistic reflection of the world around us, because an unrealistic view of predator presence or mating opportunity would not be very sustainable in the long term.
So I would agree that our view of reality is probably pretty close to the important aspects of "what is really out there". However what constitutes these "important aspects" probably varies a lot. An echolocating bat, for example, no doubt considers rather different things to be "important aspects" and it experiences the world rather differently than do we, for that very reason.
However I don't see any evidence that the way the bat experiences the world is particularly different from the way that we humans experience the world, in terms of "what is out there". We just sense it differently, that is all.
Mick
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