They don’t entirely. They get footage of behaviors, but animals often know they are there. But animals still need to eat and hunt and do the things they do despite humans being there. Like others have said, telephoto lenses help, and acclimation (animals getting used to people) helps. But ultimately wildlife documentaries usually cobble together a lot of footage, then come up with a narrative that is almost entirely fictional (often) and tell a amazing story, despite the fact that events did not take place in that order.
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