I can't speak to how things were in 2023 but today you do not need to visit Estonia.
Registering a company in the U.K. is very easy but the tax treatment is less favourable compared to Estonia. The U.K. leaving the European Union is also disadvantageous (although the full consequence of that is yet to be seen). All company filings in the U.K. are public, much more information about your company is public compared to Estonia.
Creating a company is the easy part in the UK. Need to do HMRC and house of company reports. And now his Majesty revenue and custom requires purchasing "approved" tax software and submit expenses adhering to new regulations. And to verify your identity
and if you like access the online service you've got to wait 2 to 3 weeks for them to send a code in a physical post letter (no other way). And part of those services are mysteriously unaccessible from an IP outside the UK.
And it costs double to dissolve the entity than it did to create it. VAT is 20%, put someone on Payee: employee pays 20% to 45% (over 50k per year starts to fall into the high tax rate) + 9% insurance and as a company you also pay roughly 30% on top for taxes and insurance. Of course there is corporate tax on any profit. If with all of those taxes you somehow manage to be profitable.