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In a nutshell, yes. There are many stories in the talmud and medrash where great men prayed to their ancestors. It is halachicaly accepted as seen in Shulchan Aruch Orach Chayim siman 579 with Magen Avraham 11. The source of confusion is found in the Mishna Berurah siman 581 siff katan 27 where t...