How do I render a template from a different plugin?

So far, I’ve had no trouble including resources (CSS, js, etc) from a separate plugin. For example:

<link rel="stylesheet" type="text/css" href="${webResourceHelper.getStaticResourcePrefix()}/download/resources/org.mycompany.themes.intranet-styles:theme-resources/assets/libs/swiper/dist/css/swiper.min.css">

What I would also like to be able to do is to include/render a template from this other plugin as well (my goal is to have a main theme for our site with all of the CSS and js, and a handful of HTML includes, and then use a small collection of themes for the site that all point to resources in this other theme).

What’s the syntax/method for including a rendered template that lives in another theme/app?