It seems to me that being able to review restoration words is very important for a beginner, as you don't always have the right reflexes at first.
If this is a matter of personal eyesight and reflexes of eyesight and coordination with hand, I know what you mean here and not everyone can clearly look at it. But worry not because there is no time or shot clock like a ticking bomb for you to write and save those seeds/recovery words. So, hurry not with that because it is going to take time and you have to check them clearly upon doing so.
The question is: can we check the restoration words on Ledger Live
No, you can't. Unless you want to avail their Ledger Recover which is a big no.
if we've lost them, do we have to send them to another wallet and write down the new words?
Say, that you're still able to access the ledger wallet and you have lost the seeds. You'll have to verify the transaction on the actual device before sending. I think that I understand you here. Yes, send it to another wallet like a desktop wallet, sweep that hardware wallet and generate new recovery phrases and after writing them down and backing it up. Send back the balances on that new wallet that you generated you've sent before.