Qenya
kim-
verb. to find, to find; [ᴱQ.] to heed
hir-
verb. to find
tuv-
verb. to find
There are more words but they are from Tolkien's earlier conceptional periods. Tolkien likely changed these words as he evolved the aesthetics and completeness of the languages. You may even find languages that Tolkien later rejected. Do not mix words from different time periods unless you are familiar with the phonetic developments.
Below: Tolkien's Late Period (1950–1973). These are from Tolkien's late conceptual period — his most settled forms of the languages. Prefer these over the earlier ones above when composing new text.
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.