Two players stand in the middle of the court with their backs facing each other. Meanwhile, two players are on the outside of the court, either side of the players in the middle. The ones in the middle set the ball to the outside and then switch places with the other player in the middle, but keep their backs facing each other.
Both setters must set similar quality balls so they can change their positions easily and have appropriate time to prepare for the next ball.
To increase footwork required, shorten the distance between inside-outside players and have them play quick balls.
New hitters rarely miss because of their arm. They miss because of their feet. Build a reliable approach, then time it with your setter.
When your hitter gets stuffed, five teammates standing and watching is how you lose the point. Good attack coverage turns a blocked ball into a second swing.
Coaches spend hours correcting arms in serve receive when the real fault is almost always the feet. Fix the movement and the platform fixes itself.