Family Guy- can they hear what Stewi say's?

In my mind, there is no real answer. Sometimes they can hear him, sometimes not depends on the gag/scenario seemingly.

Lois never seems to understand him though.
 
Brian and Stewie have a conversation about it when they go to see Loretta (Cleveland's ex wife) they discuss whether her character is far enough from the main family to be able to understand him. As it happens, she is.
 
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