Pretty sure you're describing "A Wrinkle in Time" by Madeleine L'Engle. Towards the end of the book the main character gets sent to a planet with blind aliens with telepathy, one of whom she names Aunt Beast, before heading back to face the antagonist "IT". The girl's name is Meg Murray. (https://en.m.wikipedia.org/wiki/A_Wrinkle_in_Time)

Pretty sure you're describing "A Wrinkle in Time" by Madeleine L'Engle. Towards the end of the book the main character gets sent to a planet with blind aliens with telepathy, one of whom she names Aunt Beast, before heading back to face the antagonist "IT". The girl's name is Meg Murray.