Well, we already can communicate with animals by talking to them. The most obvious example I can think of is sheep dogs who resopnd specifically to shouted instructions and whistles.
However, our great ape cousins also are able to respond to language. In particular there is a Bonobo ni captivity in USA called Kanzi who seems to be able to resopnd to spoken English and also use symbols to communicate with huamns. http://en.wikipedia.org/wiki/Kanzi This is really fascinating.
I don’t think it will be evolution that will help us do that, but our own knowldge of how animals communicate and possibly technology will advance to enable us to communicate back.
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