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It’s a very exciting journey you will embark in understanding how to make simulations come to live.
Im sure there are many technical answers to your question. So I’ll share how I started learning as I’m self taught. Pick a commercial robot with great documentation that has a simulation package. By studying how the hardware is simulated then you develop an appreciation of what is involved
Highly recommend to study Rosbot: https://husarion.com/tutorials/ros2-tutorials/rosbot-ros2-demo/
A tutorial using Ros2 but Foxy shows you how is done. Then study the manuals and simulation package thoroughly and you will find what makes this possible. Hope this gives you a starting point.
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