I don't think telepathy is such a far-fetched idea. We can't scientifically identify a language that dogs have, but dog owners claim to understand what various barks mean. I think there's the sci-fi idea that telepathy exists with absolutely no context or with magic, but I'm not sure if that's what the word originally meant. That's not that I mean when I talk about dogs and people. In that context, there are obviously clues, just not ones that are defined well.
Based on a few community college classes I've taken in psychology, I think the term you would see more often in psychology is intersubjectivity, which has been at times extended to the idea that the mind does not exist in an isolated state. We often have an idea of what others think, whether we're right or not.
Also, if you look at the original definition of telepathy, you could make the argument that it describes the unknown mechanisms by which we talk to ourselves, and try to know our own feelings and thoughts. Or you could use the word intersubjectivity, there, as well.
Have no idea if this is related to what you were asking, just some of my meandering thoughts on the subject.
Edit: Just realized the date of the OP's post. I'll leave this in case anyone else is interested.