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You can talk to Mission after she joins your party outside the Outcast Village gate in the Undercity on Taris. If you don't talk to her, you may be prompted to do so when she's in your party (although this can be ignored).
The following dialog unlocks without needing to level up:
This is as far as you can advance this dialog before leaving Taris.
Party
Mission may initiate dialog with other party members.
Bastila
Carth
Zaalbar
