A normal 3 v 3 match but each team has one player on the oppositions side. The team has to try and hit their team player on the other side in order to get him back.
If a team wins a point, then the other team has to send a player to the ther side. when a team has run out of players, they loose.
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.