I feel the touch as as strongly as a humans but still struggling to communicate any suggestions?

I tend to use the yes/no hand method along with telepathy to talk to them. You open out your hands, ask them a question and they respond by touching the hand corresponding to the question (for me it's left hand for yes, right hand for no but many people have their preferences).

It takes time for them to warm up to you and they usually observe first but when they do try to communicate with you, try this method if you're having trouble hearing them.