Thank you for the question on the translation of the Bible, “Can you truly understand the Bible from its translated form?”
If I may express an opinion here that even if one was raised speaking Hebrew and Greek, there will always be a translation from Hebrew and Greek into another language. There are nuances and interpretative questions that the Bible translators have to make in translating a word.
For example in Genesis 1:2, the Hebrew word, ruah, is used for wind or Spirit. The translator from the Hebrew text has to make a determination whether that word in that context refers to an impersonal force or a being. Was it clear to the original audience? I would like to think so but today there are differing views on Genesis 1–2 and the words in those chapters.
I believe that if one studies the context and do a careful comparative study that one can understand the Bible. The Holy Spirit overshadowed the Old and New Testament writers so that the hearers can understand what is being proclaimed by the prophet or apostle and his assistant (I Corinthians 3:9–16).
Jesus commanded his disciples to teach all that he commanded them which would mean that those being disciple would understand the words in the scrolls or letters. The Holy Spirit will help them to remember his teachings and will reveal additional truth to them (John 14:25–26).
SUMMARY: If one wants to do a in-depth study, I would recommend a Hebrew and or Greek Parallel Translation of the Old and New Testament. One can also use the website in reading how that translator translated the Hebrew or Greek text.