In my remote job we do cam, but everyone wears whatever and nobody minds. Many people are in their pyjamas, I wear whatever old T-shirt I have, etc. That's one way of solving that problem.

However, in my previous company every remote developer had a Polycom phone in their home office and the main office ran a PBX for them. I found that an order of magnitude better, because the phones had much much better sound quality, they were physically on the desk so there was a feeling of "this device connects me to my coworkers" associated with them, and they just lowered the barrier of calling someone by a ton.

They were so good, that we'd routinely just call each other up and keep a line open while we worked, so we could chat about work, what we were doing or just generally about our lives, and we really felt like we were sitting next to each other in a way that Zoom doesn't.