Yes, people can worship God and learn about God on their own, but the bible obliges Christians to assemble together as well:
Hebrews 10:24-25 "And let us consider one another to provoke unto love and to good works: Not forsaking the assembling of ourselves together, as the manner of some is; but exhorting one another: and so much the more, as ye see the day approaching."
There is a lot in the Bible detailing what those sorts of assemblies should look like as well.
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