Can foreigners really understand the beauty of China's ancient poems?

They can't do it, and they will never do it, unless they grew up in China, were educated in China, loved ancient culture and could read classical Chinese. Because the main reason why they don't understand is cultural background differences, followed by language differences.

The average westerner can understand it superficially at most. At this time, people who are proficient in Chinese, English and Chinese and foreign cultures need to translate ancient poems into a state they can understand, and then some background introduction or documentary is needed.