I guess I'm part of various groups of friends:
School friends, we WhatsApp every now and then, and have an occasional Zoom call to catch up. In normal times it's rare to see each other together, usually one or two meet up - we don't all live near each other.
Only keep in touch with 1 Uni friend - I tend to refer to her as my best friend. We speak on the phone every couple of months with texts in between - again we don't live near each other. In normal times we'd meet up at least once a year.
In my locality, I've got quite a large group of mum friends who I've known since our teens were babies. We text and meet one on one for walks at the moment, in larger groups when allowed. In normal times, it's usual village-type events, birthdays, charity things, dinner parties, BBQs.
I'm also part of a book club locally, we occasionally WhatsApp at the moment, in normal times we'd meet once a school term, no pressure to even read the book!
DH and I have a large close set of friends (kind of his school friends, which has grown over the years - luckily the wives get on as well with each other as the original friends do!). We WhatsApp regularly, occasionally Zoom, sometimes do a group quiz where each family is in charge of 1 round each. In normal times we go to the pub/lunch, and we go on massive group holiday every summer. DH and I live quite a distance from them, so we need to make an effort to meet them in London or wherever. Totally worth it.
For me, I've been very lucky to make friends throughout my life with people excellent at getting people together, so I just turn up as and when asked! I've got more confident of doing the same myself as I've got older. I think you need to be prepared to say yes to everything, and bite the bullet to ask someone for a walk.