I don’t know if I can help because I'm still working this out myself. It seems like everyone has a different experience but I know for me, growing up in religion and only really hearing and understanding about God the heavenly Father, I always thought of him as just that, a father. I always wanted to know what his purpose was for me and wanted him to be proud of me (perhaps because I didn't get that from my earthly father), but as I grew older I developed my own beliefs but in my heart the knowledge of the heavenly father was always there. I could never not believe in him. When I was young I always looked at and talked to the sky when thinking of him or "praying", not traditional prayer, but I would just talk like he was there listening.
My story of coming to Christ began 5 years before I actually did. But I've "officially" been saved just a little over a year. It's been a long process being "extracted" from the world and its distortions of the truth (a bit like a spider web actually), so is why I think I haven't got my understanding of "relationship" with him down-pat. I also find difficulty reading the bible daily due to past trauma and trying to understand "relationship" in that sense. I've heard his voice both audibly (twice) and often in my spirit and mind. I've also had 2 dreams and several visions.
The past few months I've heard him very rarely but I get a comforting sense in my spirit, kind of like being a child and being wrapped in a blanket... a feeling of "security" you might say? Hard to explain because I haven't felt like that in 30 years. But I think lately he wants me to read his word and this is the way he wants me to deepen my connection with him, instead of waiting for him to respond to my nonsense "prayers". So like the bible says, we must go from spiritual milk to solid food and the bible is necessary in the strengthening of our faith.