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It was an understood agreement between us.

Recognized or accepted as true or valid.
It was an understood rule in our group.
The terms were understood by everyone involved.
Her feelings were understood without words.
understood concept
understood principle
understood expectation
accepted
recognized
acknowledged
I understood the lesson well.

To grasp the meaning or significance of something.
She understood the instructions clearly.
They understood the problem quickly.
He finally understood her point of view.
understood well
fully understood
clearly understood
comprehended
grasped
apprehended