So, how do microservices actually talk to each other? What are the common ways they do that?

Hey everyone, I'm getting into microservices and wanted to ask how you guys manage communication between them. Are you mostly using synchronous REST APIs, or do you prefer asynchronous messaging with queues, like Kafka or RabbitMQ? What differences have you actually noticed, especially with latency, fault tolerance, and how complicated things get? I'm really looking for what people have seen in real projects, not just what's in the books.