Purrrrley by observation.

Yup, had one cat that never learned to knead, they would rub themselves over me when I pet them, head bumps, etc but never made the biscuits. Brought them to the in-law’s place where there were two older cats who did knead. My little goofball watched them do it, and almost immediately started kneading.

My thighs are the never ending dough to their kneading forevermore.

Anecdotally, I’d say yes, I’ve seen one of ours mimic the behaviour of another when that got them what they wanted.

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Yes, mine definitely learn things from each other.

My cat Ed def had to teach the Panda bear how to go through certain doors. Like, when theyre cracked open just a bit. Ed would just gently push it open and walk through. Poor bear took awhile to figure out doorways. He still gets caught in the shower behind the shower curtain sometimes. He’ll yowel until someone can come let him out.