Yeh it’s learning through positive reinforcement and understanding. It’s by no means innate, the evolution of it is actually quite interesting, humans have existed for between 200-300 thousand years, but we’ve only had language for a much shorter time (I don’t think anyone knows but of the top of my head I think 50 thousand years) and it seems to be an evolutionary happy accident, much like birds had feathers well before they could fly, and it just turns out that they were actually very useful in flying which became a useful trait, humans developed the physical capabilities for language for other reasons, some 300,000 years ago, and then managed to develop a very complex and very useful system (language) much later on.
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