But we do live in a simulation - a simulation generated purely in our minds based on the input to our senses that come from objective reality. We certainly don'

But we do live in a simulation - a simulation generated purely in our minds based on the input to our senses that come from objective reality. We certainly don't perceive objective reality directly, otherwise our senses would be overloaded with all the information. We evolved to filter out many of the things that we didn't need to perceive in order to survive. Our mind does enough simulation that it's able to rewind the clock to fill in missing details (like the whole "when I look at a second hand, the first second takes longer to tick" thing, that's your brain literally lying to you about what it saw and retroactively filling in the blanks).