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Envision (verb)
To conceive or see something within one’s mind. To imagine.
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Envisage (verb)
To conceive or see something within one’s mind; to imagine or envision.
Wiktionary
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Envisage (verb)
contemplate or conceive of as a possibility or a desirable future event
“the Rome Treaty envisaged free movement across frontiers”
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Envisage (verb)
form a mental picture of (something not yet existing or known)
“he knew what he liked but had difficulty envisaging it”
Oxford Dictionary