What would communication without manipulation even mean? The whole point of making mouth-noises or eye-shapes is to cause the neural activations in people perceiving these shapes to change in some way. If they don't, you haven't communicated.

What most people mean when they ask questions like yours isn't "How do I avoid manipulation?" but "How do I live with integrity?". Answering this question is a field in its own right and isn't coupled to communication per se.