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> One solution I've found as a more senior engineer is to force a working session with a junior regularly. Like, we're not there to do anything specific, just work on something together. This ends up becoming a much more comfortable space for them to open up with all their questions

We have had really incredible returns from what we call “hack sessions” which are like you said, essentially hosted by at least one senior engineer. We find something in the moment to discuss, or someone shares their screen and we debug together. If no one has anything, I personally start quizzing people on deep technical details and it usually only takes a single question before the topic naturally evolves toward optimum teaching. By now people look forward to them as a place to bring their friction, so lack of topics is rare.