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As far as having conversations, yes, but despite "Sexy" telling the Doctor she cannot normally communicate by voice, the show has given us a few occasions where this has happened by way of a holographic voice interface, such as "Let's Kill Hitler" where the TARDIS creates holograms of past companions and speaks through them (she does the same thing with Clara in "Hide" and that scene reveals that, far from being simply computer messages, the interface is capable of sarcasm and insults suggesting independent thought). The TARDIS has also on occasion communicated using beeps and other methods that aren't exactly the same as traditional talking. Examples include "Clara and the TARDIS" - enough so that Clara is actually able to carry on a conversation with the TARDIS - and in "Under the Lake" the TARDIS calls out to the Doctor using her cloister bell to indicate she's leaving.