Fetching details from the dictionary...

to peep (through); to peek; to examine (esp. covertly)
to await (one's chance)
to guess; to infer; to gather; to surmise
明日うかがってもいいですか。
Is it okay if I visit tomorrow?
お話をうかがいたいです。
I would like to hear your story.
この件についてご意見をうかがいます。
I would like to hear your opinion on this matter.