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Helium ash alpha particles at ∼100  keV in magnetically confined fusion plasmas may have the same Larmor radius, as well as cyclotron frequency, as the energetic beam-injected deuterons that heat the plasma. While the velocity-space distribution of the helium ash is monotonically decreasing, that of the energetic deuterons is a delta function in the edge plasma. Here we identify, by means of first principles particle-in-cell computations, a new physical process by which Larmor radius matching enables collective gyroresonant energy transfer between these two colocated minority energetic ion populations, embedded in majority thermal plasma. This newly identified nonlinear phenomenon rests on similar underlying physics to widely observed ion cyclotron emission from suprathermal minority ion populations.