Absolutely.
I personally found myself less likely to ping someone over Teams to ask them a small question versus leaning over to the next seat to ask. I was assigned a work-buddy when I was on-boarded, but I think I asked him a total of 3 questions. I believe that if I was on-boarded in-person, and had a few lunches with him, it would have been quite different.
Also, the fact that the only time I talk to my co-workers is over Zoom makes it necessary from a human relations point of view to start many meetings with a bit of chit-chat, which otherwise in face-to-face meetings can be skipped since we can chit-chat outside of meetings.