During the active working time – YES! It’s important for keeping a team’s energy and focus.
You can turn it off during the breaks if you feel like it.
Having the camera on should make you feel as if your whole Sprint team is in the same room. It might be a bit weird at the beginning, but after the first hour or so, you will get totally used to it.
When you are working from a physical space, you are interacting with others, and maybe you go to get your coffee or have a small chat with others. It creates a particular dynamic between the team members needed for efficient communication. You can have a quite similar experience with remote working tools, but everyone needs to commit to playing by the same rules.