How can you really be in touch with all those things without experimenting with socially unacceptable behavior?
Looking within, some understanding of human nature, being honest to one self to help uncover one's shadow, study of history, and I'm sure their are many ways, read some good books on psychology.
To be sure it is not a easy process to find and be your authentic self, in fact I would say that one never will do it 100%, but the farther you go the better IMO.