If we knew how to create world simulation, and how to make it working 4D, then humans would be able to plug themselves in, and experience 4D space. Alternatively there could simulated 4D beings, whose sentience could be transferred to robot body in our real 3D space.
I think it would depend on how the shapes extend into the 4th dimension.
Where the 2D slice is two circles: if in 3D we have a sphere inside a sphere the inside is occluded, but if we have a ball inside a cylinder the inside is visible from two ends.
Likewise where the 3D objects are a ball inside a ball, they may be two 4D spheres or one might be more like a cylinder.