Yes it seems that the Vedas and yoga traditions speak of these terms with Sanskrit words, and our translations into English attempt to make sense of these terms as best we can. The Sanskrit word for "hankering" is "trishna" which is also translated to mean "thirst" ironically.
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Oh love it. I read some comment on HIVE a few days ago that seemed rather contemptuous of 'contemporary' yoga (here, the texts on which some yoga practices draw spiritual understanding from) but I think each age interprets text in ways that they understand best. 'Thirst' makes sense anyway.
I have a whole heap of issues with contempt for modern yoga vs traditional, but I won't go into them here!