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I generally think he cannot, but Vegeta's line could be interpreted from other ways imo:
Chapter: 439 (DBZ 245), P10.2
Context: as Piccolo and Kaioshin's match begins
Vegeta: “We’ll finally know: just how much is his battle power, which we haven’t even been able to estimate?...”
It hasn't to mean Vegeta couldn't sense Kaioshin at all, only that what he saw from him wasn't enough for estimate his battle power.
Chapter: 439 (DBZ 245), P10.2
Context: as Piccolo and Kaioshin's match begins
Vegeta: “We’ll finally know: just how much is his battle power, which we haven’t even been able to estimate?...”
It hasn't to mean Vegeta couldn't sense Kaioshin at all, only that what he saw from him wasn't enough for estimate his battle power.