I think a prerequisite for doing this would be an absence of power dynamic - like everyone with the same authority, pay, and upside - but I'm not sure even that

I think a prerequisite for doing this would be an absence of power dynamic - like everyone with the same authority, pay, and upside - but I'm not sure even that is sufficient. As a manager, to protect your team's emotional health your job is often to do the opposite of what the company would have you do. Rather than aiming for peak utilization, introduce slack time (the concept, not the app). Rather than prescribing duties, trust your team. Rather than encouraging them to go above and beyond, mandate they go home at the end of the day. Etc, etc. But I don't think the answer is to demand intimacy from them - instead, it's about giving them space to feel safe on their own terms.