I believe that in-person office work is not about communication or mentorship but mostly about providing socialization benefits (chatting, going out to lunch) that are not needed for a company to succeed. "Less authentic relationships" has nothing to do with company success and everything to do with your own personal well-being.
The correct move is to build a social life outside of your work - family, friends, community. As a remote only worker my social life is excellent because I did not tie my social well being to any company.