Some of the best learning about marginalized communities can be had from listening to members of that community speak to each other about their problems. One of the situations where lurking is encouraged!
I learned a ton about what would help reduce Asian hate crimes, by listening to Asian women talk to other Asian women, without me or other non-Asian folk speaking.
I don't need to speak to contribute to the conversation or support a community. Being present and listening, *is* participating.