What do you mean with telepathy? You can't just transfer data from one neural net into another with having some sort of common data protocal that makes classifications. You still need some sort of language.

I suspect shared access to the conceptual referents of words would help with that specific problem, yes.
I suspect (with Feynman) that it would make only a small difference.
In particular, I suspect that if we did that we'd run more often into the currently-masked problem that everybody thinks about things a little bit wrong.

(People seem to differ in their interpretations of "telepathy," so I've started trying to develop the habit of Tabooing the word. The irony of this in the current context does not escape me.)

I wonder if telepathy would help with that.

That would depend partly on the specific problems with the words, and partly on the rationality of the people.

If everyone is making the same mistake, telepathy will just amplify the problem. There will be a chorus of agreement which is amplifying the mistake.

If people are using the wrong word, but with different shadings, then perhaps people will look into how well the word fits the concept it is supposed to indicate. However, the odds favor people yelling at each other about who's right.