We do not need to experience to teach something.
Does it help if we have experienced it? Only if we have gained wisdom from that experience.
If we have been hurt or not cleared up the fear or not understood it, it would be better teaching the experience of someone else or the experience of God.
This is why the Word of God is so important to those who counsel advise or teach.
Teaching from tradition, evidence and experimentation can be dangerous.
The Word allows us to teach from a wise perspective, not tainted by the wrong experience that we personally have not recovered from.
(Empiricism, often used by natural scientists, says that “knowledge is based on experience” and that “knowledge is tentative and probabilistic, subject to continued revision and falsehood.”)
On anything you would like to teach that you may or may not have experienced, the Bible and revelation on the Word will make you a very good teacher.