• Sign language. There may be different dialects, but maybe there's a somewhat universal sign language which spans multiple cultures.

• Pictionary and miming. Since she already has writing materials on hand (it sounds like she's been writing stuff down in the book she carries), she can use them to draw basic images or directions as needed. With that, along with pointing, gesturing, and miming actions, I imagine she could communicate fairly well.

• Maybe she can learn to growl out approximations of basic words and names? Like a husky that makes word-like sounds, maybe this chimera can learn to do something similar.

• Or maybe someone can teach her to write so she can just write down what she wants to say.

• Also, a rule to "blink once for yes, twice for no" paired with her companions sticking to addressing her with yes-or-no questions can be helpful in a lot of situations.

That's all I got, because telepathy (either she's telepathic, or she travels with a mind-reader who speaks for her) seems like a gimmicky cop-out. Like, if that were the case, she might as well just have the power of speech to begin with. But that's just my opinion.