I’d say it’s fine as long as you are praying to the same God that we worship, and that you are not praying for things contrary to our Faith (e.g. sola fide etc.)
e.g. saying Grace before meals would be fine I think
We can pray together at ecumenical liturgies (Week of Prayer for Christian Unity: World Day of Prayer) or liturgies like funerals and weddings. I wouldn’t hesitate to go to an Anglican/Episcopal Liturgy of the Hours.
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