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We utilize Bardeen's tunneling theory to calculate intra- and interorbital hopping integrals between phosphorus donors in silicon using known orbital wave functions. While the two-donor problem can be solved directly, the knowledge of hoppings for various pairs of orbitals is essential for constructing multi-orbital Hubbard models for chains and arrays of donors. To assure applicability to long-range potentials, we rederive Bardeen's formula for the matrix element without assuming non-overlapping potentials. Moreover, we find a correction to the original expression allowing us to use it at short distances. We also show that accurate calculation of the lowest donor-pair eigenstates is possible based on these tunnel couplings, and we characterize the obtained states. The results are in satisfactory quantitative agreement with those obtained with the standard Hückel tight-binding method. The calculation relies solely on the wave functions in the barrier region and does not explicitly involve donor or lattice potentials, which has practical advantages. We find that neglecting the central correction potential in the standard method may lead to qualitatively incorrect results, while its explicit inclusion raises severe numerical problems, as it is contained in a tiny volume. In contrast, using wave functions obtained with this correction in the proposed method does not raise such issues. Nominally, the computational cost of the method is to calculate a double integral along the plane that separates donors. For donor separation in directions where valley interference leads to oscillatory behavior, additional averaging over the position of the integration plane is needed. Despite this, the presented approach offers a competitive computational cost as compared to the standard one. This work may be regarded as a benchmark of a promising method for calculating hopping integrals in lattice models.