we still are not experiencing reality directly but instead experiencing the mental picture our brains form of it.
The concept of experiencing "reality directly" apart from our senses seems to me to be an incoherent concept, an impossibility for anyone or anything. Your senses are experiencing reality as directly as anything can, just from a different perspective than anyone or anything else. In your concept of experiencing reality directly, one would need to be able to perceive a thing in all of it's forms from every position and perspective possible. A thing can be perceived from a physical distance perspective, from a frequency perspective, from human and non-human sensory perspectives, etc. Even if you were able to perceive every electron and quark making up a thing it would just be another perspective which excludes other perspectives. Unless you are able to experience all possible perspectives (which would be infinite) then the concept is incoherent.
Your mental picture of a thing is a way of experiencing reality directly.
You are probably more concerned with perceived "accuracy". It seems impossible to verify and I am happy to accept my perceptive accuracy as "good enough". I have no need to be solipsistic about it.