"Know" works in context. There are different kinds of "knowing". You might know something because of years of careful study, like "Jack knows quantum physics better than Heisenberg." You might know by intuition or common sense, like "You know that young people fall in love." If you think that "know" only applies to the careful-study kind of knowing: No, it doesn't. It is readily understood to mean either kind (and other kinds of knowing).
I think most readers would assume from the context that "know" here refers to knowledge gained from personal experience, or possibly from intuition. When it's really necessary to distinguish, I don't know of a single, commonly-used word that could be substituted. You'd have to either use an obscure word or use a phrase to clarify. Life if you wanted to make clear that Jack's knowledge of physics in fact does not come from years of study but that he just somehow seems to have an intuition about these things, you would say, "Jack knows quantum physics by intuition" or some such.
In your case, you could say, "You know from experience that sports teaches discipline" or "You have seen that sports teaches discipline." You might say, "You intuit that sports teaches discipline" if you insist on using a single word, but that just sounds awkward to me. As I say, I think most readers would take it for granted that you meant knowledge gained from experience or observation, especially with the "as a sportsman" stuck on the front. If your intent was that he knows this because he is read studies in psychology journals of research demonstrating this, then you would need different words to make that clear.