The disconnect is real indeed, and in my experience mostly solved with company get-togethers. After the first get-together, people have a much better idea of other people, vibe better together and thus have a lot more empathy as well.

That said, if a person is unable to conduct themselves professionally whether it is via a video call or not, I think it has nothing to do with remote work and all to do with that particular person being bad to work with.