If you can make a clicking noise with the side of your tongue, you can easily sense the volume of space you’re in, how close to a wall, etc.
The echo pulses are there but just milliseconds after the sound you made. It will all blur into a softer or harder reverb depending on your surroundings.
To hear an actual separate echo pulse, it would need to be 20-100 milliseconds later than the original sound. That corresponds to a large hall tens of meters in size.