Basically you are having a minor adrenaline rush as a sympathetic response to watching someone rock climbing. You’ll probably also notice that your heart rate increases and your attention is heightened. Your body is having a physical response to the fear of height despite the fact that you are not actually in any real danger. In very over-simplified terms: your brain kinda “simulates” an experience you observe, it’s connected to how we evolved as a social species. It’s the same reason you might feel genuinely heartbroken when your favorite fictional TV show couple breaks up, or why you might feel more compelled to scratch an itch while watching a nature documentary about bugs.
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