Sri Aurobindo distinguished knowledge by identity, in which we know ourselves by simply being, from knowledge by contact and by separation. Thomas Aquinas spoke of knowledge by connaturality, the way a virtuous person knows the good by kinship with it. Both describe a knowing in which the gap between knower and known is closed.
Knowledge by Identity
Knowing a thing by being one with it, as opposed to knowing it by perception or inference.
Also: knowledge by connaturality