In smaller startups and growing companies, where these things are changing at a high rate, it becomes even more valuable.
It's not that these things are not doable virtually, but it's something that will require deliberate rearranging of how people work. In larger companies, this type of stuff already happens, but not so much in smaller ones.
Engineering organizations can learn a lot from Sales departments in this area. Sales in companies that sell in various geographies (which includes even small companies that have gained traction and are beginning to grow) already functions perfectly fine with very distributed teams, and highly technical sales motions (think enterprise products).
Small, growing companies have big problems with communications and coordination in general. That's what makes the scaling stage challenging and full of pitfalls: many companies fail at this stage!
You get added to the email lists, the slack channels, the documentation wiki, and the issue tracker. Daily meetings at 10am. You pair up with one person for a couple weeks and then somebody else and so on for the first few months. You regularly have voice and/or video chats. You get, or create, a list of who to contact with different questions or problems.
If somehow all of those communication methods fail, I doubt that just being able to add a physical touch component would help much. Other than touch, the only senses that require physical proximity are smell and taste. If you're relying on touch, smell, and taste to communicate while on-boarding people, then maybe then it might be difficult, but that also seems a bit unusual.
Mostly I think companies that have trouble with on-boarding remotely have bigger problems with their communications in general.