Children, or even adults who have not yet lost their naivete, may feel that they are indeed able to create a soul-to-soul dialogue.
At any age, we might feel that a direct soul-to-soul communication has taken place through bonds of friendship, of connected thinking, of unified action, or of love.
But with time and experience, especially when we begin to think deeply about this issue, we discover that we are not involved in soul-to-soul contact at all.
The soul has many garments of its own, but it continues to acquire more and more of them with time and experience.
This is why most human contact, even with those who are closest to us, is at best a kind of embrace between two people, both of whom are dressed in several layers of clothing.
–Rabbi Adin Steinsaltz