Doing my best,
You are correct to point out the Shulchan Aruch, however if you look at the Biur Halacha he explains that this idea that one only needs to see each other originates in a daas yochid in the rishonim, namely a Tshuvos HaRashba, and even the Rashba is only saying it as an “efsher”. Therefore he says better not t rely on this. However as the Mishna Berurah says in s”k nun zayin, in a shaas hadchak one could rely on this shitah. As I stated, I do daven in such a minyan, although I never would under normal circumstances
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