Have you ever heard someone's thoughts/been heard?

I know this is a little goofy, but I remembered an incident where I was having a conversation with a relative who misspoke about something. My thought bubble retort was something along the lines of “blah blah blah, dumbass,” after which he immediately turned his head at me and shot me a look. I was so sure he “heard” me but didn’t want to discuss it because then I’d have to admit what I was thinking. Anyone have that kind of experience?