For me personally, be proactive and step up the communication. You wouldn't hesitate to walk over to a co-workers desk and shoot the shit or ask a question about something, so you can't hesitate to call them either.

It feels weird and intruding to me still after years of doing it, but it works. I don't feel left out, I don't feel isolated, and while I often feel like an annoyance, everyone tells me that isn't the case.

Also, make sure the communication systems work well. It's invaluable to me to be able to make a video call and just have it work, to turn that one on one call into a group call, to share my screen and notes, to know that everyone on the team has a headset and knows how to use it.

Without that, it just makes the communication that much harder, which amplifies those feelings of isolation and being an "outsider".