Telepathic contact

Telepathic contact was a Time Lord ability to form a telepathic link between multiple minds for high-speed conversations and decision-making. The ability was used by different incarnations of the Doctor. (DW: The Three Doctors) It was also possible between two different Time Lords. (BFA: The Apocalypse Element, DW: The End of Time) A similar ability was shown by the Doctor when his sixth incarnation on Space Station Chimera contacted his second incarnation, currently on Earth in the same time period, via the astral plane, but it's unclear if this is the same ability, or a side effect of enhanced memory from past incarnations. (DW: The Two Doctors)

Between incarnations of the Doctor

 * DW: The Three Doctors
 * DW: The Five Doctors
 * BFA: The Sirens of Time

Between different Time Lords

 * BFA: The Apocalypse Element
 * DW: The End of Time

Between the Doctor and other humanoids

 * Gideon Crane in BFA: Minuet in Hell
 * Reinette in DW: The Girl in the Fireplace
 * Donna Noble in DW: Journeys End
 * Craig Owens in DW: The Lodger