This did not happen to me in classic. Just started a new play-through on DE.
Examples:
1. Septa the crab near Beast's location;
2. The dog near Sahila's cave.
If I click either of them the usual text comes up and I'm unable to communicate with them. HOWEVER, if I stay near them long enough, I can hear their voice lines. E.g. the dog will say "I'm hunnnngry".
Edit: Took a screenshot. Bottom right. It's not only the text, there's also the audio line.