To Inquire
To Hear, To Visit
transitive verb, godan verb
The kanji means pay respects but the verb is to inquire, to hear, or to visit. Basically this is a humble way to use any of these verbs. It's often used in a professional context.
うかがう
Excuse me, I'd like to inquire about you, kaga (うかが). You're asking questions about Chairman Kaga, the ruler over the Iron Chef kingdom.
残って最後まで彼の話を伺いたいのは山々なんですが、残念ながらどうしても行かなくてはいけないんです。
I’d love to stay here and hear his whole speech, but unfortunately I have to go.