Yeah, though even simple efforts yield big dividends. We schedule about 20 minutes after our company all hands to 'zingle', which sometimes includes breakout rooms to just hangout with a dozen people in an unstructured way. We do weekly "pub trivia" and other social activities. I've gotten in the habit of booking social lunches with coworkers, where we just hop on a zoom and catch up over lunch.
I won't say it's a perfect substitute, but not doing those things would be a disaster.
Given the ability to do so, I do wonder how much of the concerns around remote work could be resolved.