English Standard Version (ESV)
It's easy to forget how intimately the Lord knows us -- we get wrapped up in what we are doing and easily overlook God's desire to be part of our lives. God made us, crafted us, and has total knowledge of us.
For the moments when we redden with shame at the thought of God knowing our worst moments completely, we can rejoice in the knowledge that God sent Jesus Christ to die for humanity despite our failings and flaws -- a path forward was provided while we were still enemies of God due to sin.
For the moments when we turn away in guilt, knowing that we haven't glorified God as we ought, remember that Jesus Christ died for you before you were born. God knew you, chose to make you despite your flaws, and seeks out a relationship with you. You are treasured.
To understand the depth of God's love is too wonderful -- we cannot grasp the fullness of such love. What we can do is bask in what we do know -- that God made you and loves you and has redeemed you, willing to pay any price in order to prevent you from suffering eternally. Like a parent who delights in their child, God delights in you.