a google search turns up some thorough summaries. I would best sum it up with “The most common error made in communication is incorrectly assuming that it has occurred”.
Communication is a skill that I see mostly taken for granted once people have a functional level, but it goes deep. It’s tied up with your self awareness, blind spots, etc. and so debugging your speaking and listening skills is a lifelong thing. These books lay out all the layers of assumption, bias, and miscommunication that happen by default in most conversations, and how to recognize them and take charge of a conversation and fix them.