I only have experience with very small, early-stage teams, and in terms of technical onboarding I really liked the process I went through.
The README contained all the information I needed to set up my local environment
If there was anything missing, I could ask a colleague for help, and add the missing info to the README. This was also my first commit and contribution to be merged, which gave the nice feeling of a quick first win, and improved the README for future onboarding.
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I only have experience with very small, early-stage teams, and in terms of technical onboarding I really liked the process I went through.