My personal experience is it's not as much "seeing" as "feeling" whatever I "see". Like with open eyes staring at but not looking at something, instead mentally focusing on peripheral, where the peripheral is more of an idea than the impression of photons hitting your retina. I often almost feel like I'm drawing the diagrams or interfaces I might think of, with sweeping gestures and so on. I definitely think it's something that gets better with practice.

Sure, but most people have actual visuals when they imagine, most with color. That's where I want to get.

I mean, I CAN have visuals like that, as I don't have aphantasia. But I don't believe most of my ideas originate from the visual imagining. It usually starts with concepts, is connected through logic, and then along the way images may or may not be generated, depending on what I am ruminating about.