sims are aware that they are robots. you have to apply to become one, and they retain their human memories afterwards.. so yeah, they know. also stim and phase tech can’t be used by normal humans, so the pilots at least would have to be aware that they aren’t human.

rev’s situation was unique because he was designed to be an immortal assassin, and could potentially take out all of hammond if he ever became aware. so they made him believe he was human so he stayed in line.

he was also the first simulacrum (created at least 100 years before apex), and his creation was later on considered to be a mistake, so he doesn’t work the same as modern simulacrums