In 'Spyfall' (the first episode of series 12) the Doctor comes across a man who is subsequently revealed to be
In the subsequent episode (part 2) they communicate telepathically. Time Lords being psychic is apparently not new although I can't recall seeing the Doctor communicating telepathically before.
Their conversation indicates that this isn't a new thing for them.
Doctor: He's not so far. I can sense him. Contact.
Character: Contact. Old school.
Doctor: You're not the only one who can do classic.
So have they done telepathy before? If so, what was the episode?