Is it permissible to verbally contradict one's parents while obeying them in one's heart, with the assurance of their inner contentment, if their words do not reflect their true intention?

A son must strive for his parents' satisfaction, unless it involves disobedience [to Allah] or an unbearable harm. Islamic law has encouraged this, for "The Lord's pleasure is in the parent's pleasure, and the Lord's displeasure is in the parent's displeasure," and "Stay with her, for Paradise is beneath her feet." The decisive factor is the parents' intentions, not their mere words, if the son is certain of their approval for a specific matter.