can my baby inside my tummy sense their dad from inside?

long story short I’m no longer with my ex. And we decided to co parent. Met him and his family today for lunch. We didn’t interact as we’re not really on speaking terms. but he spoke to his parents all. Could it be baby hearing his voice or sensing that he was there? I’m current 6 months and usually my baby wouldn’t kick that much during lunch. But as my ex was speaking all I could feel was my baby dancing and kicking in my belly. Could it be I’m overthinking or can my baby actually senses and recognise his papa voice?(fyi we broke up when I was ard 4 months)