Qenya
kim-
verb. to find, to find; [ᴱQ.] to heed
hir-
verb. to find
tuv-
verb. to find
Beware, older languages below! The languages below were invented during Tolkien's earlier period and should be used with caution. Remember to never, ever mix words from different languages!
In the Gnomish Lexicon of the 1910s Tolkien gave ᴱQ. kim- “heed” as related to G. gima- “hear” (GL/38), probably based on an (unattested) early root ✱ᴱ√GIMI since initial g became k in Early Qenya. In the Quenya Verbal System (QVS) from 1948 Tolkien instead had ᴹQ. kim- “find” as a replacement for ᴹQ. tuv- (PE22/108 note #50, PE22/125), but this seems to have been transient since tuv- was restored in The Lord of the Rings.
Neo-Quenya: I would keep ᴺQ. cim- as “to heed” for purposes of Neo-Quenya, since this is the closest to a verb for “obey” that we have in Quenya.