That does not mean that all human experience is communicable. In fact, internal mental states are only communicable to the extent that they are universal. Suppose I am eating cake and you ask me what it tastes like. I say strawberry.
Ok, but now supposed that you never tasted strawberrys. How do I describe in language the flavor of strawberry to someone who never tasted them? I can make an approximation based on flavors you know, but once you taste strawberrys you realize that, although what I said is true, it does not convey the sensation of eating strawberrys at all.
Even more: the less types of fruit you have tasted, the harder it is to convey an approximation of the flavor of strawberrys through language. So a lot hinges on culture and shared experiences.
Languages come from different cultures and sets of shared experiences, so it is natural that they develop more conceptual density in some things than others, and it is also natural that the grammar more naturally fits a certain way of thinking and seeing the world. You can discuss German philosophy in English, but it is a bit clunky. If you ever had the experience of learning a foreign language, you probably felt that you achieved proficiency when you were finally able to "bend" your thought process like the locals do.