Medea would probably be able to understand the basics of what Sarah's thinking, although most of the finer concepts would definitely be out of her league. She'd like Sarah, though. If the ships are docked next to each other, she'd register Sarah as another psychic (they feel different to her) and she doesn't meet a lot of those, so she might "poke" her.
Medea would be fine with Drake--unless he turned on that chip in his arm for some reason, because she really hates being mind-blind. Unless you want to involve Blue and the other folks who play the Mimi-tan crew, they can't meet on different sides of a job, so it would have to be some place on the Cancer.