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Hello,
My understanding and my experience has been that the higher self is our conduit for telepathic communication. There are no exact rules. Some times it is best to restrict telepathy. Other times it is best to enhanse it.
I will say that it works best well those we resonate with energetically. They are on the same frequency or vibrational as us. So there is an attunement in beliefs and thinking. Those in our soul group would be like that.
John
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