I have the opposite experience (in tech at small or medium companies). Managing remote workers is much easier since outcomes (and outputs) are necessarily more visible.

Before working remotely (pre-2019) when managing teams in person, I found myself necessarily having discussions to get synced with folks. At my most recent role (and previous remote first roles), team members were excellent at providing updates on Github issues (the sources of truth for work items). Of course, this required buy in at all levels and trickling company objectives down through the program(s) and linking work items to OKRs etc. It was very obvious when folks weren't hitting objectives and easy to gather detailed written evidence of this.

And regarding getting to know folks. Most recent offsite was at a villa in Croatia where I got to both meet my team members and ended up getting to know them like friends. Now that I think about it this has happened at previous companies as well during remote offsites.

I wonder if it's field-specific. Sounds like there are multiple anecdotes across a wide distribution of outcomes.