Engrossing tale of telepathy and deception

This is science fiction with absolutely no space battles, detailed discussion of fictional weaponry or space-time physics.
Instead a journey of self-discovery for the lost soul that is the apparently helpless and amnesiac Sira - who is stranded after an attack by space pirates when downside in an unfamiliar location surrounded by and pursued by a range of beings, some humanoid some not.
There is forbidden and slow burn romance - strictly a physical in nature, but central to the plot. There is a secretive race of telepaths whose thoughts inhabit another dimension-
and whose skills can extend to teleportation.
There is a particularly unsavoury reptilian pirate and a whole cast of interesting characters including the mysterious ship captain Jason Morgan and an elusive beautiful sister with an extreme distaste for humans.
A large part of the action occurs in the mind of Sira and involves her unknown telepathic abilities and her mental battles with others who also have that gift.
I cannot say I have read anything similar in the past but this will appeal to anyone who likes to read about the inner thoughts and conflicting loyalties of the main characters and who can dispense with the need for gung-ho physical action - which is conspicuous by its sparsity.
I found the story compulsive & the narration excellent (Allyson Johnson also narrates the Honor Harrington books of David Weber).
I will be readind/listening to the sequel soon methinks.

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