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Always have a folder in your hand when visiting other teams in other parts of the office. Print out some code, a few pages of spec, whatever. Just don't go walkabout empty-handed.

I usually asked my managers by framing it to their goals, if agreed they would schedule with other managers.

It's harder during crunch or when everyone is remote.

Just send someone in the other team a message saying you're interested in learning more about what they do, and would like to grab a coffee.