Maybe “grounded in reality” is bad phrasing. I was playing off of the wording in the Ralph Keyes quote. My meaning (and Socrates’/Plato’s), of course, is that we don’t correctly perceive the reality we’re physically grounded in, and never have. So yes, there’s an argument to be made that we are objectively grounded in reality, because there’s not a second option. But while our minds remain subjectively grounded in illusion/delusion, it’s kind of a distinction without a difference. We could also argue that illusion is an element within the larger reality (that it’s “our reality,” and we’re grounded in it), but I would counter that, while that’s true, we don’t have to settle for it. We can do better.