Mind skills have also been key in the original series, Voltron: Defender of the Universe. In that series, "mental powers" allowed an old man named Runan to call forth a fleet from another dimension called Elsu to rescue Coran's wife Leda and son Garrett and transport them safely away from Zarkon.
While no direct support exists, the fact that mental powers have now also developed in Allura leads to the theory that perhaps the royalty of Arus, being originally descended from a baby who arrived from space, may have married into these mountain people and their bloodline thereby connecting to their mental potential. It is also of note that a gateway to other dimensions appears in the mountains of Arus which can only be opened by a key from an ancient race, which the first Queen of Arus might have come from before ending up on Arus, again indicating the importance of the mountains and magic. Again, while not proven conclusively, the fact there is a strong potential link should not be ignored.