Yeah, Time Lords seem to sort of have a kind of telepathy, it's never really been that fleshed out that much. They also kind mind meld to a degree with humans, and the Master often hypnotized a lot of people (Including into making him PM), although it's unclear if it's his time lord abilities or just something he picked up. Sometimes the Doctor can sense the Master, sometimes he's right in front of him and the Doctor can't see it (Melkur, Missy, O, and Yana, although the last one has an explanation). The Doctor can ocassionally put himself into trances and doesn't often get posessed, unless he's dealing with something really, really powerful (Sutekh, whose species rivaled the Time Lords in terms of power)