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We want to use the Program plan to visualize dependencies between plans, but I don't see any would to show links between epics in the Program Plan schedule view.
From the way that you've described it, it sounds like you're using the old Legacy interface (aka Live Plans)? If that's the case, then I don't believe that's possible.
Can I ask if you're on a cloud site or a Server instance? If you're on Cloud, then the Improved interface does have dependency visualization tools that might help with this. If you're on a Server instance, the Improved interface still has more dependency mapping tools than Live Plans, but the full suite is coming in a future release.