The tooling that has been developed during the pandemic has taken this space forward by leaps and bounds and I expect this to continue.
Instead of focusing on the how, I would focus on the outcomes you are looking for and lets investigate paths forward for those outcomes.
My two cents: There is still body language over video calls, Miro and other whiteboarding solutions work pretty well, not every day needs intense whiteboarding sessions so have onsites when those are required, and good riddance to the lunches with colleagues. If we wanna have lunch let's get on a call and/or have some one-on-one time setup instead of thinking that lunch is somehow a team building exercise.
Not to mention the IMMENSE benefits you get from remote work. Having those tradeoffs and changing the way we work: I am all in.