I've found that even just turning my camera on in Zoom meetings makes a difference. Joining the standup call a little early, having "face to face" chitchat, builds up a small buffer of rapport that significantly improves empathy and perceived intent
Especially if you need to have a conversation where there might be some existing friction/tension/frustration, doing it over video instead of text or just audio will hugely increase the good-faith nature of the conversation
And of course, the occasional in-person hangout helps too, if you happen to be in the same city as your coworkers. What's important is that you each form an impression of the other as a human being, and not just as a faceless mechanism in the org that may be helping you or getting in your way at a given moment