Plato greatly stressed distinctions between appearance and reality, and I think Aristotle recognized that all our apprehensions as finite talking animals are essentially perspectival. He often talks about how things are “for us”, taking into account both how we learn, and an order of explanation relevant to human life. He also points out how things are “said in many ways”, and his standard approach is dialectical.
Even though they talked about things like essence, Plato and Aristotle were both highly aware that we do not just somehow directly grasp the truth of things. Later writers — at least until Kant and Hegel — were often more dogmatic. I think this attitude of Plato and Aristotle toward human understanding embodies an Aristotelian mean that is also achieved in Hegel and Brandom’s “two-sided” view of normativity. Even more clearly, the same Aristotelian mean concerning understanding appears with new explicitness in Brandom’s admirable treatment of error.
We can be epistemically modest and avoid making overly strong claims about our actual knowledge, but still act with practical confidence, and even treat understanding of things as they are “in themselves” as a guiding aim, though this will be an ongoing task that is never fully complete, and we may encounter surprising twists along the way. Among other things it involves combining multiple perspectives, and stepping outside of our narrower selves. The aim is not to be perfect, but to be better.