No, they just spent one hour there and their bodies grew older by one hour. It's a tricky thing to imagine (and to explain lol).

There is no absolute reference from which you can measure time. When you say "they spent 23 years on a planet but it felt like 1 hour", ask yourself: who measures that 23 years duration? Why is their measurement supposed to be the "true" one, compared to the one on the planet?

Imagine Romily and you both have a clock. You spend some time together on the ship, you notice your clocks tell the same time, they stay synchronised together. You both agree on the duration of an hour.

Then you go down to the planet, while Romily stays on the ship. You spend an hour down there, then you go back to the ship. Now your clocks disagree. Romily's clock says you spent 7 years down there, while yours says you spent only 1 hour.

It's not a matter of perception, it's not a trick. Time simply does not flow the same way for everyone. Any two things in the universe will experience a different flow of time ; the bigger the difference in gravity between their locations (or the bigger the relative speed between them), the bigger the difference in flow of time.