Truth is a property of a statement (assertion, claim, thesis, etc.) We say the statement is true when it conforms to the facts. We acknowledge that we might be mistaken about the facts at any particular point; we might be dreaming, or delusional, or misinformed. But nevertheless, when we think a statement conforms to the facts, we say the statement is, in our opinion, "true."
Now suppose I say "London is the capital of England." Ordinarily, if there was a dispute about this, we'd agree on some authority like an atlas. If that won't do-- you being very skeptical-- we might agree that we'll go to the Queen of England and ask her. Anyway, normally we'd have some way of ascertaining the truth of that particular statement.
Quite a few statements we might devise are not subject to verification. I might say, "A pink teapot is orbiting Jupiter." Well, I don't see that statement can be verified any time soon, so we'd have to be agnostic about that for now.
In discussing "truth" I think it is useful to be clear on what is meant, and that in empirical questions there is always the chance of being mistaken. I do not think the idea of "Absolute Truth" or truth with a capital T, is a very useful concept. I don't see it adds anything to plain old truth.
Say a woman hears God's voice telling her that her child is possessed by demons, and that she should drown that child. And she does so. Should the assertion that God told her to commit the murder be a defense? Can we say for sure that God did NOT tell her to drown the child? We may be able to establish to our satisfaction that she believed at the time that God told her to drown the child. Most folks would say, "that woman is deranged." Deranged means, in this context, that what she firmly believes to be true is a result of some psychiatric problem, not on the actual action of a supernatural agent. Others would no doubt say, there was a supernatural agent, but that it was an evil agent, like Satan or a demon misleading the woman.
Anyway, since very many things people believe to be true cannot be demonstrated to others objectively, there will always be debates over what is demonstrably true and what is thought to be true by some based on beliefs others may not share.