lost in translation
Rose has always taken the Doctor's comments about "stupid apes" as a joke in rather poor taste. But she put up with them because friends can be like that. Right?
She coped with the whole translation thing without complaining too much because it saved her having to learn the languages. They all think in English anyhow, don't they?
When she saw the TARDIS opening to reveal its heart, she'd thought of convenient words for telepathy. Vulcan mindmeld thingy. You know?
When she felt her mind falling apart as time and space burned through her, she didn't have words for it.