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Communicating with a creature requires both creatures to be intelligent enough to understand language (Int -3 or higher) and for the two to use a communication method through a shared language such as speaking to one another verbally, texting, signing, exchanging secret messages through hints and subterfuge, or even speaking telepathically. Any action that affects targets you communicate with allows you to speak to them as part of the action but requires the target to understand you to be affected.