Write a scene of approaching something from a distance. Track each perceptible detail in turn as it arrives, or transforms from a prior perception into a new one. Write in in the first person plural “we.” At the end of the approach is the arrival. Into what?
If you want more, re-write the scene of approach from one or both or all individual perspectives that were once bundled into the “we.”
If you want to add a formal constraint, as you write, try braiding appearance and interpretive or associative thought together into twined sentences.