Iowa Code § 633.637A

An adult protected person under a guardianship has the right of communication, visitation, or interaction with other persons upon the consent of the adult protected person, subject to section 633.635, subsection 2, paragraph “i”, and section 633.635, subsection 3, paragraph “c”. If an adult protected person is unable to give express consent to such communication, visitation, or interaction with a person due to a physical or mental condition, consent of an adult protected person may be presumed by a guardian or a court based on an adult protected person’s prior relationship with such person.