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Thunder is merely the rumbling sound that lightning creates. You hear the thunder after you see the lighting because light travels faster than sound. Lightning is the light that is emitted, and thunder is the sound.
The thunderstorm could be miles away. The ice or water particles in the cloud may not be large enough to fall, therefore creating electricity. Lightning is hotter than the surface of the sun, so it superheats the air and causes a sonic boom, the thunder. It is very possible, it is actually called dry lightning and can be very rare.