I've just finished reading China Mieville's "Embassytown," in which there's an alien race that cannot lie, whose language is always literal (except for similes, which still have to have some literal anchor) and has no generic "that" -- but they have to learn, in order to deal with a particular threat. (It's complicated and weird, like most of his novels.)
Some of the failure of communication between humans and this race reminded me of trying to explain nonbinary gender to some people. It's like trying to explain irrational numbers to someone who only understands integers. You have to take it in stages.