Definitely.
I think the main thing to remember is that we don't always have to know. Adds to the tension and intrigue; leaves things open to interpretation and such. And ultimately is just how life works - you can't read people's minds.
Which I think regarding the heroine's anxiety is actually a plus, from the story telling perspective; if we do know for a fact that it's no issue (because we're privy to information she doesn't have) it's easy to feel frustrated at her hesitation. While if we genuinely also can't know it's far more understandable.
The other method I think that's commonly used and that I'd say is acceptable so long as it's not too contrived is the usual set of overhearing people talk, people saying stuff aloud/talking to themselves, finding some "evidence", random coincidences (bumping into people, doors left open, people forgetting stuff/leaving things out in the open).
It's a bit hard to say anything too general, but for example the Mom might mutter to herself in the kitchen about how she's worried or whatever just as you walk in, and so you overhear that (or she might be chatting to Dad about whether they're doing the right thing or whatever and you just hear some bits).
The sister, instead of use seeing her "through the closed door", might be making teasing comments that imply she's noticed something (which perhaps would be very sibling-y thing to do anyway ^^).
That sorta thing.
... if you feel you really need a different POV somewhere in the plot then I think it's best to handle that as a clear cut; "here be something different now" instead of in the middle of other scenes. An obvious intermission scene where we temporarily switch POVs. That can be okay, though I personally tend to feel it's just better to refrain and leave it to the player's fantasy and interpretation.
Lastly, more for completeness sake (and "lulz"); I suppose it'd be possible to contrive reasonably fun ways to incorporate being able to read other people's thoughts or detect their feelings into the actual story.
"Oh, the nanobots that gave me that gigantic dick somehow end up in my cum and when people are exposed to it they get absorbed and I sometimes temporarily can almost hear their thoughts; it's like this connection ..."
... I mean, I doubt this is a scifi/fantasy story. But I thought I should at least mention it. ^^
