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familiarity (n.)

c. 1200, "closeness of personal association, intimacy," from Old French familiarite and directly from Latin familiaritatem (nominative familiaritas) "intimacy, friendship, close acquaintance," from familiaris "friendly, intimate" (see familiar). Meaning "undue intimacy" is from late 14c. That of "state of being habitually acquainted" is from c. 1600.

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Definitions of familiarity from WordNet

familiarity (n.)
personal knowledge or information about someone or something;
Synonyms: acquaintance / conversance / conversancy
familiarity (n.)
usualness by virtue of being familiar or well known;
familiarity (n.)
close or warm friendship;
Synonyms: intimacy / closeness
familiarity (n.)
a casual manner;
Synonyms: casualness
familiarity (n.)
an act of undue intimacy;
From wordnet.princeton.edu