At my employer, it takes 8 dedicated Slack channels, numerous daily, weekly, and monthly meetings, and a dedicated conference room. And continual reminding from the boss - "Call a random team member, and BS for 5 minutes, you have my permission." But my remote coworkers are definitely part of the team.

It does help that the office parts of the team are scattered between 2 offices in widely different time zones - people in the other office may as well be working from home. This is for a 24/7/365 support organization.