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I actually get the idea of why "communication with" would imply a two-way communication pathway, thus giving the non-telepath the ability to speak telepathically with whomever has the telepathic ability. And, in fact, despite the "works the same as telepathy" caveat in the Limited Telepathy description, my groups still goes with Limited not allowing two-way comms because we feel it makes the ability much too powerful.
With full Telepathy, my groups has decided that it's designed to be sufficiently powerful to specifically allow for two-way communication, but with limited telepathy, we felt it was overpowered for a first-level character to be able to have a two-way communication with ANYONE since basically everyone speaks common except monsters that you don't need to talk to really anyway unless the story requires it... and then the GM will need to make sure *some* communication method exists outside of an overpowered skill.
So, the point is, after 7 months and hundreds of hours worth of additional playing since my post above with a group that includes both Lashunta and Shirren characters along side non-telepaths, I feel very confident that disallowing two-way communication with Limited Telepathy is the right call. It provides very interesting roleplaying opportunities when the Lashunta and Shirren can talk without being heard and can coordinate when not in the same room, etc, and also provides interested interactions when non-telepaths are trying to respond without anyone noticing, etc.
What this ruling did was remove limited telepathy from play as game breaking but kept it in play as a roleplaying device. So far, the one-way-only method has worked extremely well.
I imagine if/when Paizo actually provides some formal guidance on this, we might still continue to play it the way we do because it works well from roleplaying perspective and it certainly doesn't break the game or even make the players running lashunta or shirren feel nerfed. Heck, if anything, it gives them a "I can do this and you can't" feeling that helps further define their race. "I can talk to you in your head, and you can't do anything about it, haw haw."