You can visit people by sitting outside and staying minimum 6ft away.
The weather here has finally gotten good enough to regularly do this. When I dropped off groceries for the senior lady from church I've been shopping for earlier in the week, I went around the back to her patio and we sat at least 10ft apart for about 20 minutes and visited. She has been staying home since mid-February and has been very lonely.
I'm going to do this with other seniors from church. I told them to just let me know when they'd like me to come visit.