Yeah, I think that as long as the content of the communication is intelligible to us, figuring out how to give rough translation is inevitable, no matter how different their physical process of thought and "speech" is.
If anyone is inclined to deny that we can believe in the existence of facts like this whose exact nature we cannot possibly conceive, he should reflect that in contemplating the bats we are in much the same position that intelligent bats or Martians7 would occupy if they tried to form a conception of what it was like to be us. The structure of their own minds might make it impossible for them to succeed, but we know they would be wrong to conclude that there is not anything precise that it is like to be us: that only certain general types of mental state could be ascribed to us (perhaps perception and appetite would be concepts common to us both; perhaps not). We know they would be wrong to draw such a skeptical conclusion because we know what it is like to be us. And we know that while it includes an enormous amount of variation and complexity, and while we do not possess the vocabulary to describe it adequately, its subjective character is highly specific, and in some respects describable in terms that can be understood only by creatures like us. The fact that we cannot expect ever to accommodate in our language a detailed description of Martian or bat phenomenology should not lead us to dismiss as meaningless the claim that bats and Martians have experiences fully comparable in richness of detail to our own. It would be fine if someone were to develop concepts and a theory that enabled us to think about those things; but such an understanding may be permanently denied to us by the limits of our nature. And to deny the reality or logical significance of what we can never describe or understand is the crudest form of cognitive dissonance.
This last exchange reminds me of Thomas Nagel's philosophical essay "What Is It Like to Be a Bat?"
A corporeal critter is going to approach the game of chess in a finite number of ways because the pieces only work a certain way (the rules of the game = the laws of reality). Once observed, the playing style can be deduced, regardless of whether we can actually know their inner mindset.
Moreover, "grokking in fullness" is not required for communication. I don't need to be able to understand the entirety of what it is like to be a martian to be able to ask where the bathroom is, and get a useful answer.

(Dungeons & Dragons)
Rulebook featuring "high magic" options, including a host of new spells.