Hello VBzerra,
I am not sure about Veracrypt, but we can be talking about 2 different methods here. Bitlocker does a hardware based encryption, by using the TPM chipset on your computer. This will be the point of reference for all encryption/decryption.
why am I not prompted for any key at startup? TPM chip stored all the information. As long as there is no hardware change detected (or security enforcement) if will not prompt for authentication. Operating System will prompt for authentication on access base level.
If someone get the Drive physically it would was encrypted? Yes, the device is always encrypted.
If someone just access my PC and disable secure boot, they will have access to the files through another OS (bypassing my windows password)? Bitlocker BCD or TPM will detect that something changed, same as someone steals your drive and tries to load it in other computer. It will promtp for Key.
You can see more details in: https://learn.microsoft.com/en-us/windows/security/information-protection/bitlocker/bitlocker-overview-and-requirements-faq and https://learn.microsoft.com/en-us/windows/security/information-protection/tpm/trusted-platform-module-overview
Hope this resolves your query,
Best regards,