see (v.) from PIE root *sekw- (2) “to see,” which is probably identical with *sekw- (1) “to follow” (see sequel), a root which produced words for “say” in Greek and Latin, and also words for “follow” (such as Latin sequor), but “opinions differ in regard to the semantic starting-point and sequences” [Buck]. Thus see might originally mean “follow with the eyes.”
hear (v.) Old English heran (Anglian), (ge)hieran, hyran (West Saxon) “to hear, perceive by the ear, listen (to), obey, follow; accede to, grant; judge
touch (n.) c. 1300, from Old French toche "touch, a touching; a blow, attack; a test” (Modern French touche), from tocher “to touch” (see touch (v.)). Meaning “slight attack” (of an illness, etc.) is recorded from 1660s. Sense of “communication” (to be in or out of touch) is from 1884. Sense of “skill or aptitude in some topic” is first recorded 1927, probably from music or the arts.
taste (n.) early 14c., “act of tasting,” from Old French tast “sense of touch” (Modern French tât), from taster (see taste (v.)). From late 14c. as “a small portion given;” also “faculty or sense by which the flavor of a thing is discerned;” also “savor, sapidity, flavor."Meaning "aesthetic judgment, faculty of discerning and appreciating what is excellent” is first attested 1670s (compare French goût, German geschmack, Russian vkus, etc.). smell (v.) late 12c., “emit or perceive an odor,” not found in Old English, perhaps cognate with Middle Dutch smolen, Low German smelen “to smolder” (see smolder). However, OED says “no doubt of Old English origin, but not recorded, and not represented in any of the cognate languages.”