Create 2 lines of players about 1 meter from the net.
Coach stands between the players and throws the ball into the net.
The aim is now for the 2 players to recover the ball. If they do, they get to play out the set (pass, set, hit). If the ball hits the floor they go to the back of the line.
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.