Hearing God’s voice?

I was praying on my knees with the lights off asking God for another chance with something that I’ve messed up time and time again. And I begged with my heart mind and soul for one last opportunity and I would use it to bring people closer to God and to glorify him. I don’t know how God talks back to you, sometimes I get in my head about if it’s really him, or I’m just talking in my head.

I was finishing up my prayer and I heard in my head saying “it is done, you will have another chance. Go feed your son”

And in my head I asked if it was really him

“God is that really you talking?”

And then he said

“Yes, I love you son.”

And in my head I said I love you too. I was about to ask him some more questions about if it was REALLY REALLY him. And then I started hearing my son come up the stairs calling my name. He opened up the door didn’t turn on the light and crawled onto the bed and said “Daddy I’m hungry”. My sister was downstairs watching him and I asked her did he get up on his own to find me. She said yes and that he was going to find daddy and paw patrol was playing and that baby does not move an inch when paw patrol is playing. Honestly I don’t know if I just had that conversation in my head to make myself feel better but the timing was perfect. Even now that I’m downstairs and I’m asking him 15 minutes later if he’s hungry and he’s saying no.

Any advice on helping me in the future with hearing God’s voice would be great. Thank you love you all.