Touch typing does in fact require teaching. In the UK alone, only 20% of people can touch type fluently (https://touchtypeit.co.uk/just-how-many-people-can-touch-type). In the US, I saw a stat somewhere that was even lower at 10%, but I can’t find it again. I wouldn’t be surprised if that’s accurate though.

There’s no need to learn cursive, it serves no functional purpose that typing cannot match. Other than your signature, which… you have to learn how to do separate to cursive anyway to protect yourself from fraud by making it as unique and as difficult to replicate as possible.