It is worth noting that the Japanese very much learned from the British, who took out the Italian fleet at Taranto harbor in 1940 in a sneak attack. With Fairey Swordfish! (Look it up).
That the US Navy got taken out in a highly similar attack a year later did NOT reflect well on the Navy.
The Japanese started the 1904 Russo-Japanese war with a surprise attack on Port Arthur too. Wouldn’t have been much of a reach to believe they could it again.
Bill Halsey thought otherwise and got his carriers out to sea on a resupply mission. Halsey knew or suspected what was coming and had his ships on wartime alert conditions.
There were other warnings. The German Abwehr sent a spy, Dusko Popov to the US. Part of his assignment included finding out the details of Pearl Harbor's defenses.
Popov contacted the FBI and offered to become a double agent. Although he reported the intended attack on Pearl Harbor in August of 1941, there is no record of action by Hoover.