One of the neat things about storytelling, in the verbal sense, is that, when done well, it's not just repetition of words. There are inflections, emphasis, physical gesture, posture, facial expressions, and a plethora of other nonverbal factors that go into communicating one's message. I can use words like "lugubrious" or "palliative," and by expression and action, communicate their meanings to my listeners nonverbally.

I don't think using a rich vocabulary is in diametric opposition to being understood. I think you can achieve both ends simultaneously.