I need help understanding prayer

Hi Everyone! I'm having trouble understanding why we pray. I'm sorry if I am completely wrong

If we pray to become closer to God, how is that possible when God knows us and our hearts already. He already knows what thoughts we will have and what choices we will make since he transcends time.

Why do we pray for something? When someone is sick we pray for them to get better, but what does that do? Doesn't God already know what will happen and has already decided? Doesn't God already know that we want said person to get better? Why do we need to tell him when he knows and is all knowing and all powerful. Are we praying that God's will is for the person to heal?

If God already knows what decision we are going to make why do we pray to him for guidance?

Thanks :)