I learned regular expression from the regular-expression.info site and from the first 4 chapters of Jeffrey Friedl's book over 5 years ago. I don't recall an introduction to NFA/DFA from them either. I'm pretty comfortable with regex and use them regularly (no pun intended) and so far, I don't feel that I've missed much.
I'm not disagreeing with your view, but I think it's worth pointing out from someone having developed an understanding of regex from a different perspective, that NFA/DFA might not be such a strong prerequisite and people should not feel like they're going in at a disadvantage.