How auto-sync happens within multiple nodes in an ES cluster without ES restart?

Hello,
We need to understand data synchronization between various nodes in a
cluster without restarting ES nodes. Let's say, ES cluster has 3 nodes, if
one is updated, how data in other two nodes is synced with the change?
Also, if say one node is down, how that node gets updated data from other
nodes after it gets up? Also, how a node from a cluster is chosen when ES
read/write query is fired?

Thanks,
Nishidha

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