They don't have to. That's the point. Iron Man & Hulk interacted. Iron Man and Spider-Man interacted and that's supposed to be the same Iron Man. Spider-Man and F4 interacted and that's supposed to be the same F4 from their show, which means Iron Man and F4 exist in the same universe. They also did interact in the Spider-Man Secret Wars arc. But his would mean the same for every single cameo character in each show, like Ghost Rider or Punisher existing in the X-Men TV show, even though they never met. Just because they didn't cross paths personally doesn't mean they aren't supposed to be in the same universe, which is why they tried to throw in Easter Eggs and use same voice actors whenever possible.
Like I said, look at the Norman Lear shows - The Jeffersons, Maude, All in the Family, Good Times, Gloria etc...all are spin-offs, so they are connected albeit loosely, but still exist within the same universe. Yet, Maude never met the Jeffersons, and they never met Florida Evans. Miller Boyett with Family Matters, Perfect Strangers, Full House, Step by Step, Mr Cooper.....Happy Days, Lavern & Shirley, Mork & Mindy, The shows still exist in the same universe. People did not comb through every detail, because the studios and writers weren't caring that much to plot out every detail. Characters names were changed, backgrounds morphed, guest stars playing different characters, but still it was understood that this was a "real TV world."
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