Your fingers don’t know. Your brain knows. It’s just not an “explicit memory” but one in your subconciousness.
Your brain remembers the correct letter appears when your finger is in a certain position, and it’s unnecessary to waste thoughts of your conscious mind on such details.
It’s the same with riding a bike. Your brain knows to turn left you have to first steer right and then lean left. Everyone does it like that, but most people don’t even notice it.
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