How does your company handle digital nomads, residency, and taxes?

Our company was getting a lot of questions about working while traveling for personal reasons during Covid.

Given that we're a smaller company with a centralized workforce primarily located in one state that isn't California or New York, leadership is worried about a traveling employee accidentally establishing nexus or residency in another state, or us as employees becoming personally becoming liable for income taxes in another state.

To help with this, HR created a policy on how long we can work in any one state, how long we should be working from state of residency, etc. It's actually pretty solid guidance I think, but it made me wonder how other organizations handle this.

Are you allowed to work from other states? Does your company have a policy for working while traveling for personal reasons?