In office and working remotely will never be the same experience. I worked remotely for three years at my previous job, where I was part of a team of a dozen or so that was headquartered in a central location. The majority of the team participated at the HQ, and I was remote. We had IRC, video conferencing, and all the necessary technology set up. Regular visits to HQ helped. However, the thing that made the biggest impact was everyone else on the team started to work from home on occasion. This made communication happen in a remote-first manner so it was level playing field for all members. I would suggest reading the book, Remote, for more ideas of how to make it work.