At the moment it is not known how to communicate in this language. There are no books written in the language of the cavemen because they are a very primitive people and most likely do not know the written word. However, we can suspect that there is a some secret behind the caveman language because two NPCs have been equipped with strange dialogue mechanics. I will quote a piece of my article here to explain this mechanics:
To explain you better the system behind this strange mechanic, I am going to use an example of random dialogue with NPC Namasa. Let’s start the conversation and end it straightaway with „bye”.
What has just happened here? It took me a few good tries to finish the dialogue with Namasa and what is more she used unique dialogue line to do so! It means that this NPC properly reacts to our “keywords” only once in a while. According to my calculations, we have a 10% chance for the NPC to react with a proper answer. Most importantly, if Namasa doesn’t have programmed answer to given word/line, she replies with: „No, nono. No.” on average once per 10 tries. That’s an important hint. That way, we can try various keywords, lines to find out for which words the NPC has programmed answer or not. I hope that I managed to explain to you this mechanism in an understandable way. How about asking Namasa a few things.
The second NPC to use mentioned mechanics is Kito. I presented some of his unique dialogue lines below. If Kito doesn’t have any programmed answer for a keyword he will reply with „Not know, not know!” on average once per 10 tries.
As you can see both Namasa and Kito react to a few words. Nevertheless, we have to agree that their statements are quite enigmatic. Unfortunately, as of now, the cavemen language has not been deciphered yet.
Did the Content Designers introduce such dialogue mechanics just for RPG purposes? Hard to say. I suspect that if it is at all possible to know the language of the cavemen then one would have to thoroughly study the NPC's reactions to various words. At this point, your question is still open, as we have no knowledge on this topic. We are not even sure if it is possible to communicate in this language. I hope that someday this will change 
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