This is a huge deal for a lot of folks that have been working from home for such an extended period of time. It's an even bigger thing when it's a new team you've never met!

Maybe try adding a watercooler slack channel where you can share memes, stories, pics, etc? Setting up a weekly zoom lunch hour or thirsty Thursday (after hours, of course!) could also help with staying in touch with everyone in a more casual way.