I have a question concerning personalities like Zurarah, Muhammad Ibn Muslim Ath Thaqafi, and other companions of Imam Al Baqir and Imam As Sadiq. They are considered among the reliable narrators and agreed upon, and many of them narrate hadith through correspondence with the Imam but did some of these prominent companions actually meet with the Imam face to face? From what I’ve read, I’ve only seen Zurarah being listed as a kufan. If they never met face to face with the imam, is there any indication on if what they received was Taqiyya or not?

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All those names you mentioned were direct companions and students of the Imam. They met him face to face. They had direct conversations with the Imam, and they learned directly from the Imam