Have servers serve to back row players & have setter in normal position. Hitter stands on a box at the net. This drill forces good passing and accurate setting. Box with hitter can be moved to different positions.
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.