I am a yoga expert so I just want to explore my yoga classes through udemy. But I don't know how I can earn through udemy.
I guess you'll only know when your course is live.
But before working on your course, you should do due diligence. For example, number, content, ratings, student numbers of existing yoga courses.
If your course teaches the same as existing courses, it'll be more difficult for you. Same if existing courses have good ratings as you need to get similar ratings to compete with them.
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