Replication with encrypted columns, does the 2nd server have to have the same master key and symmetric key or is it done automatically?
With ordinary column encryption (not AlwaysEncrypted), the columns are simple varbinary columns, with no special configuration or metadata.  So replication of the cyphertext "just works".  

To decrypt on the subscriber you would need the symmetric key, either by Creating Identical Symmetric Keys on Two Servers, or by restoring a backup of the publisher database containing the symmetric key before initializing the subscription (and restoring the Certificate or Master Key that encrypts the symmetric key).