As someone who has worked remotely a great deal, this claim is generally true. A team is either remote-first, or full-time remote employees won't work well.

Notice that I said team. You can still have a remote team inside of a mostly office-going company and it ends up being similar to a satellite office for a regular company.

Eg Google has many satellite offices, so they could arguably have "remote" be one of those "offices". I don't see this ever actually happening, but they could do it if they make sure that team is remote-first.