Uh...Not necessarily; Jacob was able to use Legilimency to send visions to his brother in Hogwarts Mystery. It does appear to require some kind of connection to use Legilimency over distances without eye contact, which Voldemort's soul fragment provides, but it's not soul fragment exclusive. Queenie was also able to passively use Legilimency in an area around her without making eye contact, proving that it is indeed not necessary.
Voldemort also explicitly uses Legilimency to send Harry those visions; the soul fragment provides the connection, but it is Voldemort's use of Legilimency that is the actual cause of the visions, which is why Harry never got any visions before Voldemort discovered the connection.
If Harry Potter can be used to define legilimency as "not mind reading", then Marvel comics can be used to define mind reading...
In which case, you're completely right; legilimency is a wizard attempting to recreate telepathy and failing miserably.
However:
You can't really compare the two, because legilimency is a single source power, while hundreds of people over hundreds of years have created or altered telepathy, meaning you can't narrow it down to this one defined power.
There's a hell of a difference between Spock and Professor X after all.