familiarity

An understanding or recognition that comes from knowing someone or something well makes familiarity.

Familiarity is what happens when you know someone so well that their presence feels like coming home. It's not just about being friends with someone, but also about having a comfortable feeling around them, like they're an old pair of shoes. You might feel familiar with your daily routine, your favorite park, or even the taste of your favorite food. When you're in a place that feels familiar, it can be easy to relax and feel at ease.