I would also add that day-dreaming is often discouraged in children. So, there is social pressure to conform, beyond any in-built physiological process which might also suppress this fantasy play activity as we develop.
My wakeful mind's eye is very abstract, representing space, forms, concepts, and connectivity. There is almost no sensory component to it. At best, I can form a fleeting visual which I might liken to a retinal after-image (such as glancing at a bright scene and then staring at a blank, dim wall). And, like such an after-image, I cannot change my focus to attend to a part of image. Chasing the image will erase it. However, my more abstract mental visualization lets me manipulate spatial structures, rotate them, decompose them, zoom inside them, etc.
It is roughly the same for me with sounds. There is an internal experience of the spectra and dynamics which is almost identical between real listing and imagination or memory. But, there is a layer of actual ear sensation which is missing. Compared to the after-images of visual imagination, I can imagine sounds closer to the real thing. They are almost like having a TV playing quietly at night.
I think my other senses are similar. I can abstractly remember or imagine touch, smell, taste, proprioception, and internal senses like arousal, hunger, pain, and nausea. But, these too are a bit abstracted and at arm's length.
I used to think of myself as highly visual, but my understanding of it becomes more nuanced with age, and with hearing how other people characterize themselves. I don't really think "in pictures" but I also certainly do not think "in words". I especially do not have an internal narrative nor monologue, and have to put effort into rendering my thoughts into words.
When planning or anticipating, I might imagine future scenarios including what I and others would say in conversation, and I imagine those almost the same as memories described above. I might conjur a person's mood, posture, tone of voice, and word choices. But I forecast non-verbal activities in much the same way, i.e. a hike along a windy ridge with a hawk circling above, or a dive into a swimming pool with bubbles streaming along my skin.