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Several species do. Cattle and Cattle Egrets, Cleaner fish, Anchor fish and sharks,
Most visually and just tolerant of each other.
It is a very basic concept covered in elementary school. Go to google.com and search "symbiotic relationship".
Collaborate / Cooperate, yes for sure. e.g. Sea World and their mammals Orca's and Dolphins. Even the military has used Dolphins to attach bombs to ships. How they communicate I don't know, but as far as training I'm pretty sure it's on a want food treat basis.
