I've been working remotely for 5 years and have never once seen the faces of my co-workers. We don't do video chats. We don't do in person visits. We do everything by voice and text.
I wouldn't even consider myself the "most remote of the remote workers." We still do daily standups and quarterly all hands meetings.
Did you do your interview by text chat?
All depends on the type of work, the team setup and the company culture.
By teaching, do you mean workshops/classes? We generally mentor people, but never actually tried teaching. But do most developers in your company teach?
Mentoring people, yes. For very difficult topics that's definitely easier in person. Everyone teaches to some degree yeah. How do you level people up without teaching them?
I never tried to teach, or have been taught, something like a course (even a mini-course) in anything in the workplace. But then again I don't believe most developers are qualified to do that (I don't mean "credentialed").