Well, yes, and no. (At least, in my limited experience.) I would interpret the sentence to mean something like, “I don’t know if this tastes good,” with the possible indication they might be undecided. But, without context, there’s no real way to know (or should that be “to understand”?).
You might want to take a look at this thread. In summary, I’d stick with “to understand” due to the connotation 分かる appears to carry with it.
