Has a UFO ever been seen with its “cloaking off”/seen in it’s true form?

Hi,

The other month I was thinking how UFOs have been encountered in different forms in different decades. Like, in the late 19th century they were encountered as Vernian flying machines, in the 1950s metallic flying saucers were all the rage. Then, we saw stuff like triangular UFOs and the Phoenix lights in the late 20th century.

Combined with the fact that UFOs have been observed to change form in front of people’s eyes as well as have a part of them break off and fly around seems to point the fact that either UFOs can use some kind of cloaking or are just general shapeshifters.

So, with this in mind, has anybody ever detailed encountering the “true form” of a UFO? I’m not sure how one would know if they encountered one or not, except if an alien being told them this was the case, and demonstrated it by turning off the cloaking. The only other context I can see this happening is from experiments done by humans successfully turning the cloaking off like in a research Area 51 or DUMB (deep underground military base) sort of area.

Also, either seeing the inside OR the outside of the UFO as uncloaked would count, in this case.