Figure out how to have some kind of face-to-face relationship. This could be an annual all-hands trip, or otherwise take a week to fly out and spend time with the person you work with.
You learn A LOT about each other when you interact face-to-face. I once worked with two developers in India, and assumed that the shy one was just so-so, and the talkative one was brilliant.
After some deep day-long conversations, and a few day trips, I realized my assumptions were completely wrong: The shy one was shy, and the talkative one spoke before thinking.
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More recently, I started work with a hybrid team. I live 60 miles from the office, but it's brutal commute. I go in once a week.