In the normal way we sense everything: sight, sounds, smell, etc.
What I assume you’re talking about of course is moments when you just “feel” you’re being watched and you look up or to the side or whatever and sure enough someone was there. In those instances what is almost certainly happening is your brain has picked up on indicators in the background you aren’t consciously aware of and then gives the conscious part of you a nudge.
This has been tested in scenarios where this isn’t possible. Like having someone sit in front of a two way mirror and try to guess if they’re being watched from the other side. With no external inputs people do no better than chance. There’s no “special” sense to detect being watched. It’s just something we notice with our normal senses.
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