Boundaries and some of the options

Boundaries can mean anything from completely deleting a person from any form of contact all the way to the other end of the spectrum, allowing someone to encroach past those boundaries and become a source of distress. But those are the ends of the spectrum. What does it look like to try and work together with someone? Or even consider talking about needs and wants and boundaries? Of course this may not always be easy or possible. But supposing it might be, if it would be worth a try in your own situations, what would that look like?