it wouldn't fondamentaly change the fabric of society.
"the death of privacy"
Well, if you live long enough in a flat, you will realise that even without eighten sence your upstair neighbour fuck loud while doing home renovation in high heel while they party... but most of the time you don't give them slack for it, as it's understood that you tolerate the noise they make as long as they are not anal about it, you won't knock on their door to say all the thing you ear.
same thing, it's not hard to eavesdrop on people at a cafe or a restaurant.
the main change i would see is that people would tend to be more quiet and the isolation in appartment would be of much greater quality, and car might much less prevalent to keep the noise pollution lower.
and crime wouldn't decrease by much. sure, policemen might need less ressources to bug your place, but it wouldn't help by much all and all.
On the lying.
i think it's where shit get interesting.
in our society, even without super sence, we can often sence somebody lying, but it is understood that sometime a lie is preferable to the truth and you won't push the person on it. for a quick example, even if you know somebody is not doing fine but tell you they are doing so, you shouldn't for them to disclose everything
But their, as it is nigh impossible for people to lie, saying "i wont answer" could be a genuinly valid response and considered rude to press somebody on that matter, or as we do today, obviously lie as a way to say "dude, don't press me on this"
the ability to detect lie isnt the ability to know the truth.
being a good lier would on the other hand be a great asset but highly frown upon, as only a few individual can actually pull that off. being a known lier would definitly burn a lot of relationship as people are wary about the fact that you can just say thing freely that are false, and people would be naturally drawn to beliving you on their habit to detect such thing. but for some kind of job, like police or inteligence it would be
in conclusion
I think what would mostly change would be the courtesy rule, to accomodate to those sence, but it wouldn't transform society. people would in general try to not abuse those "power" even if normal, as they don't want to be under active scrutiny