No, we can't understand each other, but our languages are one of the oldest. Georgia had huge greek influence (Greeks had their colonies in modern-day Georgia), so, they spread their culture, influence, traditions and e.t.c.
You shouldn't be suprised, we called you Litva, but after 2018 we renamed you to Lietuva, that's why you also renamed us to Saqartvelo (how we call our country here)