What's the Name of That Book??? discussion
Query abandoned by poster
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ABANDONED. Science Fiction. Guy has psychic powers in world where forbidden. Travels to another planet. Spoilers ahead.
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On Engo, he meets Lora, Lora's younger brother Johnny, and Johnny's dog Rok. The spaceship captain had seen Johnny playing fetch with Rok, and the stick levitated in the air at one point. (view spoiler)
There are very ancient aliens on a distant planet helping anybody with psychic ability teleport to that planet, beyond the Federation's reach, so that the aliens can teach their ways to psychic humans.
So could this be your book, SunnySkies?
Potential Spoilers: the psychic-power-having person he was sent to find can jump bodies, is at one point in the dog, then at the end in another person. Fakes his death. It turns out there is some weird aliens dying out that are helping/teaching the people on the planet with their powers. At the very end he goes back (temporarily?) to his original planet and tells his (mentor?) about his powers.
I've thought that they called the people with powers "beyonds" or something like that, but I could be misremembering that bit. (Could be misremembering lots of details, it's been quite some time since I read the book, but I've never been able to find it again.)