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If you're interested in interactive theorem proving with Lean (and not condensed mathematics), the Lean community landing page is a good place to start. https://leanprover-community.github.io/
Especially the "Natural Number Game" under "Learning resources" has been successful in teaching folks the very basics for writing proofs. Once finished, a textbook like "Theorem Proving in Lean" can teach the full basics. Feel free to join the Lean Zulip at any point and ask questions at https://leanprover.zulipchat.com/ in the #new members stream.
Mathlib has plenty of contributions from interested undergrads :)
There's ongoing work[1] on fixing that. Also let's see how migrating setoids to cubical type theory might fix more issues for Coq. Will they follow the Arend[2] path? That remains to be seen.