They typically record the voices long before the film is animated and they probably just do it all in a vacuum with a script and a director/staff coaching them through the proper performance. They *might* have had a table read where the cast gets together and reads the lines as a group but the recording is likely alone.
They can do this because they are actors.
As an anecdote I’m reminded of the the voice actors for parent characters of “Bluey”, arguably the biggest children’s show for Gen Alpha, who physically met for the first time on on a talk show fairly recently, despite “co-starring” on this show for several years .
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