I suspect if companies just standardized on some tablet/drawing pad hardware and software--and gave it to employees--a lot of the complaints would go away. I'm not sure it's mostly a technology problem at this point.
Our larger scoping/planning/brainstorming meetings are spread out enough that an hour-long planning call isn't that much of a burden, rarely more than once a sprint if even that frequent. We instead try to pre-plan or hash out things in threads and emails ahead of time, then use those as notes/outlines for a condensed call.
Far more common for us is an impromptu 15-20min discussion after standup to help unblock someone on the team, or a huddle when someone is stuck in the middle of the day. That fluidity feels more like the kind of casual interaction you'd get asking for help in-office.
Being able to see the faces and body-language of your colleagues by being on-camera during the meetings solves most of that higher-bandwidth comms that in-person brings, and using either a simple drawing app or even something like MS Teams' Whiteboard app lets you get that whiteboard like experience.