Ask HN: Best sep-up for mixed meetings (remote and on site)?

Currently we use Zoom + Logitech cam 960-001034 (as cam + microphone on site). About 6 people on site + 4 remote.

The experience is far from good. Remote people complain about being able to understand what people on site say. Ideally, everyone would use their own headset, but then we would have an audio feedback problem. What would be an appropriate set-up for this kind of mixed meeting?

Thank you!