This is for people that I live with.
I don’t mean any lame team building exercises, but casual group activities. It could be something mundane like organizing a trip to the store together. Movie trips would also be fine as would showing something on the home projector, though I feel like there’d be more distractions and temptation at home.
My go to activities are:
Getting out on nature, running water is a big plus, hiking, kayaking, etc.
Board/party games have improved a ton over the last 20 years. Some simple fun games that take a minute or less to teach: telestrations, just one, banagrams
D&D or other role playing, this is a really easy way to engage in social interaction that is lower pressure (at least for me) and fun.
Those are good ideas. I like the idea of a camping trip, but it might be hard to get everyone into it. My sister has a pickup truck that we could take with everything we need.