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I think that hits the nail on the head - the sites are different, complementary and mutually supportive. There's nothing wrong with that - I have two sites that tackle a topic different ways and cross-link to eah other for more information.
Google is very happy - I appear in the top 5 in 37 of my chosen keywords and phrases.
From a user's standpoint, there's a huge difference between cross-linking to get more information and those awful cross-links that connect one trash site to another just to try to ensnare the user.
And I think that this is the important point.
And unlike previous posts, I'm not sure that dumping slightly overlapping content into one big site really helps the visitor that much.
A customer recently got PR0 from too much cross-linking - from every page to every page.
The best way is to just link from home page to home page, and not from the other pages, unless there is the odd one where it is highly appropriate.