When you are fluent in the language, I think your brain just automatically tells you the sounds are there. eg When I saw them yesterday, I realized they'd done it. It would just make no sense to say eg When I saw them yesterday, I realize they done it.
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tinanam0102Is there a skill there?Yes. Once you've mastered the grammar, your brain will automatically supply the right grammatical forms, even if you don't hear them clearly.