>> I'm not sure how new teams can be formed and new staff onboarded with zero human contact or office interaction

The company laptop shows up at your front door and you get on the phone with the hiring manager who tells you how to log in.

I started in April and I've never met any of the people I work with in person. On my team, only one of the people was ever in the actual office.

It isn't a problem. Takes a little longer to build trust with people, that's about it.