How can I truly feel that Islam is the truth?

Assalamu alaikum, everyone. I bear witness that there is no god but Allah and that Prophet Muhammad (peace be upon him) is His final messenger. I was born into a Muslim family, but lately I've been wanting to learn about Islam for myself-not just because I grew up with it. I'm trying to understand on my own, because I’ve been feeling a bit disconnected. What I really want to know is: what made you certain that Islam is the truth? I sometimes have questions and doubts, and I end up feeling guilty, which isn’t pleasant. It’s not like I could ever fully disbelieve, but there are things that make me doubt and that don’t always make sense to me. I get random thoughts, you know? Some people say you shouldn’t question Islam and just follow what you’re told, because that’s what’s asked of you. But others say it’s okay to ask. I want to truly understand our faith. JazakAllah khair for reading-any insights would mean a lot.