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If it didn't pop up it's because you don't have it set to in your settings.
Note that if there's still demons around, fast travel will not be possible, the option will be disabled until you kill all the demons! Also using 3rd party cheats and/or mods can break fast travel if you're unlucky.
All that being said, AFAIK there is no such console command equivalent out of the box, meaning you'd have to use cheats/mods that let you either no-clip, or travel to specific places. https://www.nexusmods.com/doometernal/mods/851 for example has no-clip.
That's a common misconception, not sure where it stems from, maybe it was required in earlier patches, but on current patch it's definitely not required.
Usually not, no. No matter how you play, what you collect, what you unlock, and what in-game cheats you possible have enabled, fast travel should always unlock just fine at the end of the level.
If it doesn't unlock, and you're sure that you've crossed the unlock point, and your installation isn't modded, then you might be encountering a bug. Personally I never had any problems with fast travel except one time in TAG 1 Blood Swamps, where it would stay disabled because some somehow unkillable demons hid behind a closed gate.