At my previous job I was a manager so I talked to other people _a lot_ at work, what with all the meetings, 1:1's, etc. When I started my new job as an IC I realized that I didn't interact with my coworkers nearly as much.
So I scheduled a monthly 30 minute 1:1 with each of my teammates that specifically has no agenda and is there to talk about whatever. Sometimes we talk about tech stuff or work stuff, and sometimes we just talk about random things like travel plans or events we've been to, etc.
Obviously, this is a lot less social interaction than I would have if we were all in the same office, but I do think it's helpful to remind all of us that the person on the webcam is another human, and I enjoy these 1:1's.