Zoom fatigue is real. If I still had to attend days full of 3+ hours worth of meetings on the regular, I'd just shut off the camera in self-defense no matter what people say.
Our larger scoping/planning/brainstorming meetings are spread out enough that an hour-long planning call isn't that much of a burden, rarely more than once a sprint if even that frequent. We instead try to pre-plan or hash out things in threads and emails ahead of time, then use those as notes/outlines for a condensed call.
Far more common for us is an impromptu 15-20min discussion after standup to help unblock someone on the team, or a huddle when someone is stuck in the middle of the day. That fluidity feels more like the kind of casual interaction you'd get asking for help in-office.