I’ve got a red earred slider I rescued, and can say definitely they can feel everything. Mine particularly likes it if you use a toothbrush to scrub off scales of his shell.
Also lesser known but very important fact about aquatic turtles- they need a good place to sunbathe, something they really enjoy and helps with health. Also, room to swim (e.g. don’t keep a turtle in a couple inches of water; they need depth. Mine enjoys 55 gallons to himself).
As for socializing… that parts hard to say since it’s easy to anthromorphise their behavior. Are they happy to see me everyday? Absolutely. So do goldfish. Do many turtles get along? For sure, I see them stack up at the lake. Does that make them social? Who knows, but likely not in a way humans are.
Btw they make fantastic pets, just be mindful of how big they get, especially females. I had to build mine a hutch to sunbathe atop his tank, too. People often abandon them, so much so that they are illegal to sell in some places. Do keep that in mind!