Current formal verification practices for autonomous systems often develop in isolation from diverse stakeholders who interact with, operate, or are affected by these systems. Although formal methods excel at providing mathematical guarantees, they often fail to address the broader ecosystem of requirements and perspectives that determine real-world acceptance. This vision paper argues for human-centred formal verification that embeds stakeholder engagement throughout the verification lifecycle. We propose a framework that maintains rigour while ensuring that verification processes are accessible, inclusive, and responsive to stakeholder needs. Our approach addresses the gap between technical correctness and stakeholder confidence through participatory specification development, multi-perspective verification processes, and stakeholder-appropriate result communication. This is a vision paper presenting a research agenda with technical details left to future work, aiming to advance discussion on integrating formal rigour with socio-technical stakeholder needs.