If that was the case, people who were born blind would demonstrate markedly reduced intelligence. I dont think that is the case, but you can correct me if I am wrong. A blind person might take longer to truly 'understand' and 'abstract' something but there is little evidence to believe that capability of abstraction isnt as good as people who can see.
Agree that sensory inputs and interaction were absolutely critical for how the minds evolved, but model training replaces that part when we talk about AI, and not just the evolution.
Evolution made us express emotions when we are hungry for example. But your laptop will also let you know when its battery is out of juice. Human design inspired by evolution can create systems which mimic its behaviour and function.