Pretty sure it’s the A Fire Upon the Deep / A Deepness in the Sky series by Vinge https://en.wikipedia.org/wiki/A_Fire_Upon_the_Deep https://en.wikipedia.org/w

Pretty sure it’s the A Fire Upon the Deep / A Deepness in the Sky series by Vinge https://en.wikipedia.org/wiki/A_Fire_Upon_the_Deep https://en.wikipedia.org/wiki/A_Fire_Upon_the_Deep