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Yes the compiler/interpreter can figure it out on the fly, that’s what we mean by untyped languages.
Are there untyped languages? You probably meant ‘dynamically typed languages’.
But even statically typed languages can figure out most types for you from the context - it’s called ‘type inference’.
Most of my code is untyped. First I type it, then I realize it’s all wrong and use backspace to untype it.