It's hard enough to get a social "fix' over video. Audio only? No way. And I say this as an introvert who just knows that sometimes I have to take my "social medicine", because it's good for me.
Maybe you feel connected with only audio. I can pretty much guarantee there's someone on your team for whom you're just some voice with a label (name).
Because IRC is an all day background conversation.
Audio meetings? They are an objective focused limited time thing.
Nobody has time to sit in a video meeting with their friends all day (especially since it's multiple groups of people at the same time). But it'd be a better connection.
Deaths of people whose faces I’ve never seen and voices I’ve never heard hit just as hard as any other. I’ve attended an online funeral with only text for interaction from a hotel room a thousand miles from home. It was just as real as ones in person.
Compare that to my IRL social circle which has turned over a few times as my college friends and I scattered around the country post-graduation, or as I've moved around since then.
Video doesn't provide any additional connection to me. I find I just look at myself more because you can't hide your own video in MS Teams. And then when someone shares their screen and includes a video of yourself, you see yourself mirrored which is definitely a distraction.
Video calls are unnatural anyway. In a meeting or social setting you generally don't sit facing everyone, face to face, watching all their movements.
I'm not convinced by "natural, therefore better". The "can see everyone" is the one thing that's better with video than in person. But yes in person as a whole is better.