But ‘understanding’ assumes people can use reason appropriately while stuck in a house-of-mirrors kaleidoscope of clownery within the allegory of the cave.
Instincts are first principles. Incentives through reason and logical understanding is second derivative.
The primary mechanism for understanding is via lived experiences; unfortunate for many. Lo, enter the age of personal responsibility selecting against sapiens that are too slow to error correct and appeal to paleolithic group-think and collectivism!