My sons all have stuffed animals. There are times there's communication via stuffed animals, yet, all three are maturing into young men that have confidence to speak their minds. It's like a security blanket. If it's a benefit to your family through this adjustment, why not?
I agree about coaching into the idea of what if they get lost in school or a store, but at home or even an occassional car ride, at least you're all talking, know what I mean?

How did your search for a different T go?