It might be sweet to find some existing experts in teaching people to speak so that they will be understood by people with complicated and relevant internal states.

(Relationship counselors? People who teach autistic people conversation skills? Psychologists who study conversation? Psychologists who study the difference between what the speaker thinks and what the listener thinks?)

Anyhow, maybe teaching people this is a near-solved problem, maybe not (and maaaaybe I'll do some research on this before next time I talk about it :D ). And maybe it's unsolvable. But I'd guess it's solvable - lots of things that seem impossible are really us being bad at the skill that makes it possible.