None really since proper telepathy, defined as "extrasensory communication" doesn't exist. There has to be some physical way to send and recieve information and the ability to pick up a physical signal is what a sense is. So if something communicates it's always sensory.
Cat and dog. Telepathy is a skill that allow a user to communicate without speaking or body language, my cat doesn't even need meowing and i just know she want food. Some naysayer will claim it's because she sit in front of her food bowl but those are just unfounded claim.