We don’t for the most part.
We have some idea what they look like because of fossils of skeletons and even some rare bits of feather and skin and in a few very rare cases even pigments.
We have no idea what they sounded like and what their behavior might have been.
We can make some guesses by comparing them with living relatives like birds and crocodilians, and other living animals with similar physical structures, but most of them is educated guess work.
For all anyone knows T-Rex was covered in fluffy yellow feathers and chirped like a very loud canary.
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