Could it solve your problem, if you and your teammates were in a long video meeting through virtual frosted glass with this tool:

https://meetingglass.com/

It this case, you would have your teammates literally at your fingertips, and could ask them questions right away.

This has been working very well for us. Been using it for almost a year now https://unthread.io/

I remember my past team configured a Slack Intercom integration. Don't know the details tho