So if someone accidentally adds me to a Signal chat, which I stopped using so no longer check, and it goes on for years, I’m guilty of a crime?
So in your case: Getting added to a random signal chat where you are not exposed to anything? You should be fine. At least it will be very hard to show any intent to violate anything. Though that isn't necessarily true either. E.g. one could imagine Signal usernames belonging to operatives being in that group. And starting to post or investigate those could still get you in legitimate trouble.
And yes, ignorance of the law does not necessarily save one either. But a central point in all prosecutions is some portion of criminal intent