Due to Sota's connection to the Shadow Replica, he could pretty much see and hear whatever it sees, the problem is that he hasn't really "perfected" control over Shadow Replicas. That's pretty much why he's panicking upon seeing through the Shadow Replica's point of view of the two Autobots it managed to get the attention. Thinking that he would be found out due to being not that far from the camp's location, Sota heads away a bit and gets a new hiding spot further away, until he figures out what to do after seeing and hearing things through his Shadow Replica.

Hope that helps.