Simply from my own experience in dealing with U.S. legal documents, specifically U.S. law, it is usually enough to Google the terms and understand the meaning. If the phrasing is convoluted to the point of needing Academics explain it, then it's usually defined by a court ruling on its meaning.

Terms of service is generally easier to read because it's more simplified and typically doesn't use Latin or existing legal language that is uncommon to the layperson.

Of course, this is still in the context of U.S. law and the English/Latin language.