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Looking through some spells, I've found 3 spells that seem incredibly similar. Those being;
Zone of Silence
There's message for the cantrip version, and various forms of telepathy for the higher levels. Secret speech, hidden speech and codespeak are related too.
Hidden communication is clearly a frequently (if secretly) researched topic where the wheel is reinvented on a regular basis.
Yeah seems there's a lot of that with Pathfinder
Telepathic Bond serves a similar function.
Add in Permanency if you've got a dedicated group going.
The Teamwork Feat Bonded Mind also would be applicable I believe.