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Imo martial arts is not a good comparable to firearms. You make a mistake in martial arts, you may be off balance, you may get hurt. But firearms deals with life and death and a small mistake can mean death to you or others. Deep sea diving, extreme rock climbing may be better analogs. Mistakes there mean death. Like the other day the 5 divers in the Maldives. Every one of them died due to a mistake. And I wouldn't consider that deep sea at all.To the OP question, I presume you mean "formally" teaching. Because when you go to a class (martial arts, shooting, band camp) there is one or a few "instructors" and a bunch of other people around you that you can learn from. Some may be the "don't model," but you can learn valuable things from the others in class.
I don't know if there is a "certification" answer, but my thought is someone who has a good level of competency (they do not have to be a grandmaster poohbah who learned high on a Tibetan mountain top). Now the important part. They have to have a deep understanding of the "why" and always be striving for better knowledge. They have to know how to relate this information to the masses in a way that is relevant to their needs. They have to meet each student at their current ability. They have to be able to explain concepts in about five different ways, as people learn and understand differently. They have to know, by watching a student, when to pull out one of the other four ways to teach a topic. They have to possess the heart of a teacher, with a burning desire to make people who come to them better in the chosen subject.
I've been fortunate that my first Aikido instructor possessed these developed gifts, as others have but to a slightly lesser degree.
I will disagree in that teaching music is not really different than martial arts/firearms, based on my above qualifications. Yes, I'm not naive in understanding that one involves life or death and the other notes on an instrument. But how you go about it is dangerously similar. I honed my instructor skills by teaching cops mid-upper level math (collision reconstruction). Cops don't become cops because they are math geeks. Martial arts / firearms / other subjects, in my experience, it is about good to high level competency of the subject matter (and always striving to improve), and the skills to impart this knowledge and wisdom to others.
I presume in martial arts that there are amazingly skilled practitioners who are terrible teachers. Their stuff looks good on paper, but not so much in the classroom. I know there are DEFINITELY those in the firearms industry that fall into this realm.