When do newborn kittens start to poop?

Last week, I stumbled upon a stray kitten, and chose to take her to the vet for a check-up yesterday. The good news is she’s in good health! The vet estimated her age to be around 2 to 3 weeks, so I’ve been helping her with bathroom duties by stimulating her.
But at what point do kittens typically start handling their bathroom needs independently? And is there a risk that a kitten might not learn if not initially stimulated?

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kittens and puppies cannot pee and poop by themselves until they are 3-4 weeks old