There are a couple of things that we used to do before the pandemic and can be done or adapted for these times.
1. Kart racing. It is an outdoor activity and quite safe if you bring your own helmet and gloves. It requires decent temperatures (at least 20 degrees Celsius), so it depends on your location.
2. Virtual bar or restaurant. We used to go out to some places, we can order foods and drinks while videoconferencing on Teams. It works best with some app that accepts sub-groups in a conference because this is also the dynamic at the restaurants - even if we went in a group of 10-15 around a large table, the discussions were broken in groups of 3-5 based on reach and loudness. The app should not mute the others, just reduce the volume so that there is the atmosphere of having 10 people around the table but being able to talk to 2-3 at the same time.
If you do #2 well, you can do weekly a different theme: 'virtual ', 'virtual ' etc, so you just order from one place every time as you would do if you were physically there. Having dinner and drinks with people helps unwind, doing it virtual helps with (not) driving afterwards after a couple of beers.