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So I've discovered that when you copy as a link, it comes up with a funky url that doesn't have the task name in it. But if you just highlight and copy the task and then paste it into the notes of the other task, it will automatically link to the task AND set the name of the link as the name of the task. It's still not completely smooth because if you change the name of the linked task the link name stays the same. But it's something. :)