My company was about 70% remote before I joined, and went to about 90% during covid so I had two people in office when I started and let them go remote about 18 months in.

We had lots of time together to get to chat and get to know one another. I stressed on camera time for most team calls (other calls were their choice). I also made sure to build in time fore every call to just chat and socialize. I tried to get budget for some team gatherings but we never got it. That would definitely have helped with learning about people personally.

Remote is definitely different from in person work, and I felt like I had fewer friends around work than I did in person. But I was productive and effective and so was my team. And they were happy. If I could do it again I’d definitely build in more time for regular in person meetings, maybe quarterly or semiannual, but unless I find the perfect gig in town I don’t think I would ask another team to work in person full time. Its not necessary for most white-collar jobs anymore.