How to deal with the fact that we don’t know our own true thoughts and desires?

I was thinking about the fact that we are often unaware of our true thoughts and desires. It could be the case that our thoughts and desires are being controlled by other entities such as our parents, our government, our social group or something more sinister such as the media or aliens. Or it could be just the way our brain works. This makes me question everything and it feels like we are just robots doing what others want us to do. So, how do you think one can find out what he/she truly thinks and desires?