> Grabbing dinner with a few colleagues after a long workshop meeting in the evening
You can still do this! If you're close to any coworkers, leave the bubble of home and go out to eat. (Attendance will tell you how many people really wanted to be there) Alternatively, you can blend this with friends and partners along with coworkers.
> Discussing our team's latest Python problems over a coffee
You can still do this. Even over zoom. And hopefully not just talking about python.
> Then there are people who work mainly to get paid and do not care to invest themselves beyond what is necessary.
You can try to hire people that are more candid - or just be the shining example of someone eager to listen. (This is also true of all environments)