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Hi,
In my case, I imagine a conversation those things/beings.
I am not sure this can be taught. It is more like a natural inclination. Some are very good at doing it. For others it is not easy or even doable.
The word 'taught' implies it is some thing the intellect can comprehend and thus do when exposed to the proper information. My experiences is that it does not work this way. Telepathy being easier with those we energetically resonate with. That has been my experience with human intellect to human intellect telepathy. However the telepathy with another person's higher self always works for me.
I hope these thoughts will be helpful.
John
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