We see the dead invoked in a number of Biblical passages, including by figures like David (2 Samuel 1:26, 2 Samuel 3:34, Psalm 103:22, 1 Kings 13:30, Daniel 3:86). We also see this in Jewish apocrypha (Sirach 47:14-21. Sirach 48:4-11).
Now, some might claim that this is simply the practice of honoring the memory of the dead--not a literal address to them. But we also have instances in Jewish tradition where the dead are invoked for prayers, like Sotah 34b where Caleb says to his ancestors "my forefathers, pray for mercy for me so that I will be saved from the counsel of the spies" (Sefaria https://www.sefaria.org/Sotah.34b.7?lang=bi&with=all&lang2=en ).
So my question: is there a belief in Judaism that the dead are aware of earthly affairs, and more specifically people's invocations of them?