The current way telepathy works has 2 problems:
1: It's very tedious requiring you to use an ability two times per message choosing a target every time
2 If you want to talk with someone outside your FOV you have no way to mark them to talk more or give them a chance to respond
The rework is:
You only have one ability, when you use it you get the target selection popup. When you choose a target both of you get a notification in chat and get a new ability. The second ability allows you to send a message to the other person without selecting them as a target. The connection breaks if you get too far from each other or the person with telepathy uses the first ability again, in that case they don't get the target popup.
This makes using telepathy easier and allows you to maintain a connection with someone outside your FOV.