Actually for this kind of jointly performed actions while passively talking and building relationships the Inzoi team could take it from Sims 4. This part is actually quite good in the Sims 4 as you can build relationships while playing billiard, watching TV, playing darts, playing chess, fishing standing next to each other, playing table tennis, playing cards, dancing together, mentoring somebody for a certain skill etc. etc.
But Inzoi would have even more options to build this beyond that which I hope they will do. If you consider the event scripts which you can run for parties etc. you could build in a full “day out with friends at the beach” including hanging out at the campfire (while talking together), go surfing together, play ball games together, singing or playing instruments together or doing yoga together or whatever else. And the game could allow us to plan the actions for such events ourselves. If we could customize these we could build exactly the type of event we want like “friends visiting a night club” or “family day out in the park” or “family / friends visit at home” etc. etc. Then we could watch this play out and they having fun while building up their relationships, and if we want we can always take control ourselves again.