Hi, new here, but I've an 8th level tiefling druid; you could always work out in advance a certain number of signals using either animal vocalizations (a crow's caw, a wolf's bork) or limb/paw scrapes on the ground to signify different conditions, or even just a "yes/no" response so other party members can question you while in Wild Shape:
"Is the way safe?" CAW! "Are there foes ahead?" CAW CAW! "Orcs?" CAW! "Goblins?" CAW! "Kobolds?" CAW CAW! "How many?" CAW CAW CAW CAW CAW CAW!
...or beak taps or whatever. Can be kind of a fun mini-game to RP.