One example of using sense imagery is Cube’s https://paroles.wiki/, “She tried to wait for the right time”, which evokes the feeling of waiting for a particular moment in a person’s life. It’s a clever way to show that Cube’s story is more complicated than just being a simple love song about a young woman who wants to have a relationship.
A song needs to evoke strong emotions in the listener, so it’s important to make sure that the lyrics are written with that in mind. There are a number of ways to do this, including writing about someone you care about and singing the song to them to see what they think.