Honestly, my answer to this came about many years after living through a very theoretical CS undergrad, by way of a chapter in Charles Petzold's book, 'Code' (of all things. I originally bought the book for my dad to help him understand 'what it was I did all day'). Basically, the insight centered around the physicality of how FA are taught; FA are usually taught by thinking of the FA itself as being fixed in space, and the tape as moving through it. I always found that this lead to me thinking of the FA as a mechanical entity, driven by some sort of magical tape; a useful thought exercise to be sure, but not something that had many direct impacts on modern computing (outside of the obvious regular language avenues). If you instead envision a FA as being a flying head that moves back and forward across a tape that is fixed in space, the ideas behind modern CPUs become much more clear: the tape is memory, the FA is a CPU being stepped through successive states, and the 'location' of the FA is the PC register. It's a seemingly small difference of conception, but one that finally brought together two worlds for me that had evolved largely distinctly before then.

It's tough to give justice to this insight, except to say that it really helped crystalize the jump between the theoretical side of CS (which had always been clear to me, if never terribly 'real'), and the applied side of CS (which had always seemed to have evolved in some sort of semi-influenced paralel universe to theory).

I don't know that it's the enlightenment you're looking for, but it's the one that eventually found me.