I only learned how to burp about six months ago! I'm not even kidding! A lot of automatic reactions actually had to be learned with me, though. They were not automatic.
I had a gastroscopy for GI issues and I think that may have alerted my brain to where the problem was. For the first month or two I had to press sort of out and down at the base of my throat and concentrate on opening my throat to make it happen, but it's got easier the past few months. I'm still not great at it, can't do it very reliably, but I can do it now! Which is awesome, I used to get so embarrassed because - little known fact - if you can't burp, the pressure stays in the body for hours, and you get very loud "gurgling" going on which you can't control. I used to have to restrict eating, for example, to several hours before I went out, and lay horizontally so gasses wouldn't rise with nowhere to go, to avoid the embarrassing gurgling.
That's probably a lot more than you asked for. So no, didn't burp at all as a baby. Took me decades to learn how.
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Alexithymia - 147 points.
Low-Verbal.