What's your go-to method to connect with people? Texting? It is certainly low-risk, easy to do, and you don't impose on the other person's time.
But it is also somewhat impersonal, lacking emotional nuance and tone, and not ideal for meaningful conversations.
Sometimes, it is worth it to actually impose on someone's time. A phone call has the advantage of allowing for real-time conversation and feedback. Hearing a voice adds emotional depth to the conversation. When you have something important to talk about, a phone call is much better than a text. When you want to establish or re-establish a friendship, a phone call might be better.
In-person visits are less welcome than in the past, when most social contacts were done in person by necessity. Still, seeing people in person is an important human need. When you can talk to someone live, do it.
The key to connection is investing your time. If an acquaintance wants to lunch, make it a point to accept the invitation. If you want to connect, extend the invitation yourself.