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The Flood being a telepathic entity was at least a thing as early as Halo 1 with Keyes becoming the basis of a Proto-Gravemind. Before that point they were just going off of instinct consuming all in its path with no real aims or motivation. Only after the formation of a Proto-form could the Flood collectively gain interstellar purpose through the seizure of Truth and Reconciliation. Otherwise the Flood would just be zombies in all but name really. They wouldn't have been the truly virulent and adaptive we know them today without telepathy.