Resident storm chaser here. Or is that ex-resident now that I’ve been evicted? 😉
Yes you can indeed hear thunder and see lightning at the same time but this doesn’t mean that the thunder came from the lightning bolt you see at the same time because light travels faster than sound. It happens when there’s a lot of lightning striking in a short period of time and it can get tricky matching the thunder to lightning. In any case if you are in this situation I hope that you’re indoors. It’s not something you want to be outdoors in because it’s really dangerous as the thunderstorm is really close.
I’ve come close to being hit by lightning and it’s frightening stuff. I’ve felt the heat from a lightning strike and that was a bolt that was 100m or so away from me. I was outside in the desert taking photos of a passing storm and without a car. I have never run so fast in my life to find shelter.