Voicemail Notifications and Visual Voicemail

I recently upgraded to an iPhone 13 mini from an Android phone. I recently came to realize that my iPhone is not giving me any notifications for voicemails. I have gone through the settings thoroughly and have notifications turned on for badges and banners. Additionally, I never received a "set up voicemail" prompt when I first got the phone, it just carried over from my old phone. This also means that I do not have visual voicemail, even though my carrier Verizon says that I am set up for it.

Is there any way to set up visual voicemails and to ensure that I receive voicemail notifications?