Google has no documentation on outreach, so nothing in this section is Google's guidance on how to do it. The relevant sources are its description of what to avoid and its general advice on promotion. The SEO Starter Guide lists community engagement and word of mouth among ways to promote a site, says word of mouth can take time and effort, and warns that over-promotion can harm a site.
The spam policies set the limits. Among the examples of link spam are excessive link exchanges ("link to me and I'll link to you"), using automated programs or services to create links, and forum comments with optimised links in the post or signature. Getting to know the people who edit, research and run communities in your field is not on that list.
Communities are a special case. Google recommends marking user-generated links, such as comments and forum posts, with ugc (or nofollow). So a link placed in a community may be qualified by the platform. That is a reason to value the relationship and the audience in their own right, and not to count the link alone.
Google also says violations are detected by automated systems and, as needed, human review, and that sites violating its policies may rank lower or not appear at all. In our view a request that reads as a link exchange puts the other site's standing at risk as well as yours, which is a good reason to ask for nothing that looks like one.