Ask HN: How to do hybrid remote work successfully

I work for a company that was up until the COVID-19 issues 100% on-site. It is now 100% WFH. Now we are considering how to do this going forward. We realize that in the next few weeks we will work hybrid WFH/office so we will probably still use Zoom for the meetings pretty extensively. However we're considering allowing WFH even after the whole COVID-19 issue subsides. The concern is - how to do hybrid remote work successfully. For example- how do you do a meeting where 5 people are in the office and 2 work from home? this doesn't work really well from my experience but haven't tried it a lot.

Thanks