You consider that 'magic?' ESP - like Deanna Troi's - is typically presented as an evolutionary enhancement not magical powers.
Well, that's the key element that makes this a difficult question to answer. The very nature of science fiction is that it's generally assumed that every phenomenon, no matter how bizarre, has some kind of scientific explanation. While that may include things that the readers would find magical or fanciful, by the internal rules of the universe they're still scientific. Psychic powers are just a superstition or a fraud in reality, but in many fictional universes they're an accepted and understood science, so they wouldn't be considered magic.
Generally the only place you'll find magic qua
magic in the context of a universe that also incorporates sci-fi tropes is in comic-book universes, which are generally amalgams of so many different types of story that SF and fantasy tropes intermingle freely. In both the DC and Marvel universes, magic is an acknowledged reality, a distinct form of power existing alongside more conventional "scientific" phenomena.