Euclid preparation. Simulations and nonlinearities beyond $\Lambda$CDM. 1. Numerical methods and validation
To constrain models beyond $\Lambda$CDM, the development of the Euclid analysis pipeline requires simulations that capture the nonlinear phenomenology of such models. We present an overview of numerical methods and $N$-body simulation codes developed to study the nonlinear regime of structure formation in alternative dark energy and modified gravity theories. We review a variety of numerical techniques and approximations employed in cosmological $N$-body simulations to model the complex phenomenology of scenarios beyond $\Lambda$CDM. This includes discussions on solving nonlinear field equations, accounting for fifth forces, and implementing screening mechanisms. Furthermore, we conduct a code comparison exercise to assess the reliability and convergence of different simulation codes across a range of models. Our analysis demonstrates a high degree of agreement among the outputs of different simulation codes, providing confidence in current numerical methods for modelling cosmic structure formation beyond $\Lambda$CDM. We highlight recent advances made in simulating the nonlinear scales of structure formation, which are essential for leveraging the full scientific potential of the forthcoming observational data from the Euclid mission.