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No, you are not required to visit Singapore to incorporate your subsidiary company or register a company in Singapore. We can work with you via emails and document couriering in order to get the necessary work done.
However for the bank account opening, all banks in Singapore require an interview with the stakeholders and the process can go a lot smoother if there is a face-to-face meeting between you and the bank officer, otherwise we can support open bank account in other countries remotely.