It doesn't have to be crappy; I spent several years as one of the remote participants in a team like that, and it was one of the high points of my career. We made heavy use of instant messaging, and we met up in person for a week every quarter. People kept in touch well enough.
Unfortunately I think this is kind of a cope the remote people on the team use to feel ok about it (I've been that person quite a bit). But the people having coffee and lunch together more regularly just do form closer bonds and that matters. I don't think it matters as much as a lot of executives want everyone to believe it does, and I think remote work has giant benefits that aren't obviously or always or even usually overcome by "face time", but it's not not a real thing.
But we met on a planned company trip (with the excuse of a Vegas trade show, we went and met one week early) and that helped immensely with bonding and team building.
If I manage a remote team, I'll push for a similar team bonding exercise whenever possible.