Reality doesn’t exist outside objectively. Nor does it exist purely subjectively, in the mind. It exists in the relationship between the two, in the transjectivity.
This answer of how we perceive reality is more satisfying than pure empiricism. Pure empiricism treats people as a blank slate, learning to see reality through experience. But we aren’t blank slates. As Kant pointed out in his *In Critique Of Pure Reason*, not all knowledge is created by experience. Knowledge BEGINS with experience, but isn't caused by it. We have a priori knowledge that interacts with sense says to crate meaning from experience. A human is born immediately looking and attaching to a mother figure. It doesn't need experience for it to do this. It has a a priori knowledge to do so.