You can roughly perceive it like this: the more compressed a sound is, the more distant it will feel in the space.

A compressor reduces the peaks and gives you room to bring up the overall level. That makes the signal feel fuller and sit closer to the other elements. With drums, for example, controlling the peaks helps them blend more naturally with the rest of the mix. Of course, the effect depends on the type of compressor and the instrument you’re working on. Just load a simple drum track(like in soundgym) into your DAW, add a bit of compression, then bounce it and look at the waveform to see exactly what the compressor is doing. That can help.

There’s no video that will ever let you hear compression. Videos can explain how it works, sure, but they’ll never give you the ability to actually hear it.

It takes hours and hours of listening, hundreds of SoundGym exercises, and tons of experimenting in your DAW. After many hours of work, days of focus and persistence, you’ll start to feel compression, the difference between an 8:1, 4:1, or 2:1 ratio… an attack of 25 ms vs 50 ms… or a release of 100 ms vs 25 ms.

There’s only one way to get there: listen and practice, practice and listen.

It's not always easy to identify it or to access the level of compression.
Despite my complete understanding of the signal processing... Sometimes I find it challenging also...
After all... Sound nuances can be more difficult than Avionics! = P
Watch these free videos:
https://courses.mastering.com/course/1704923281092x507128451810197500?chapter=1704923395326x377106680623661060&lesson=1705002538537x684516078578040800

Record a sound yourself or download a stem and play with it a lot with any compressor that came with your DAW. Take your time... Because this things take time!