The answer could be yes. And the 6th sense might be brain wave detection and interpretation. Some animals seem to have the ability to distinguish between friend and foe, especially a variety of domestic animals such as cats, dogs, horses, and elephants.
If it is a known fact that the brain puts out brainwaves (as evident by these waves being recorded by an ECG), then it's easy to assume that the brain is a transmitter of radio type waves which are captured by a "radio receiver" of the brain of another person/animal.
Common terms for this include Mental Telepathy, ESP, "good/bad vibes", etc. Many anecdotal stories are available as evidence. However there is no direct scientific proof, so it is still just conjecture.
Yet this could have an evolutionary survival benefit, but only for a few such as: Psychics, Gypsy fortune tellers, Swamis, Shaman, and of course those individuals belonging to the old stories such as the 3 Witches living deep in the forest that talk to the animals.
However, there is direct scientific proof and evidence that brain waves of a paralyzed monkey or human can be transmitted, received, and interpreted by a remote robotic arm allowing for brainwave controlled operations.
