As far as I know, to establish that kind of empathic connection requires you come from a place of unconditional love. As mushy as it sounds, you need to be able to feel love for that person to be able to link to their vibration and place yourself there.
It’s what shamans do when they presumably shape-shift into an animal. In fact, they temprarily take on the properties of the animal by linking. It’s also why long-time couples sometimes are so connected they seem to know each other’s thoughts.
A great technique to practice on pets by the way. I knew someone that used it on cats to make them all friendly.