A teacher who lives in Uruguay knows me very well. I call him my Uncle Jon and the guy who lives with me says he’s his brother. I’ve known him a long time. He’s coming to visit me.
If you want to go to see a person or a place, in English you will usually say “I want to visit X”. You can also say things like “I want to visit Paris and get to know the city better”. A good question for someone might be “how well do you know Paris?” You can ask that about a person as well. You would probably only ask that question after it’s clear that the person you are asking the question met the person, or visited the place and got to know them a lttle better.
In Spanish it’s much simpler. I think French and Italian work the same way as Spanish. English is always complicated.
Whew. That was tiring. Time for a nap.