I don’t think I’ve ever heard “zoom in someone” (nor can I find similar examples online), though it sounds idiomatic enough to me. I would interpret it the same as you, though with a bit of nuance. To me it is a bit closer in meaning to “call in” or “conference in”: the daughters are being brought in or added in.
As for what native speakers usually say, it is common to say “zoom someone”, meaning to meet with someone on Zoom, as in this example:
I have been teaching college for 20 years, so being in front of a room full of students doesn’t bother me. It turns out, however, that Zooming a bunch of students kind of does. — Zoom Teaching
It’s also common to say “zoom in”, with no object, meaning to join a Zoom meeting:
All you have to do is Zoom in and join the discussion! — Virtual Tuesday Night Book Club
You can also say “zoom with someone” (much like we say that we meet with someone):
How to Zoom with the ACS Senior Chemists Committee
Sometimes Zoom is capitalized when using it as a verb, sometimes not. It’a also common to see quotes around it (especially when people talk about “zooming in”) as not everyone has fully accepted it as an expression.
(It’s perhaps somewhat relevant to note that I am not only a native English speaker but a Zoom expert as my job has me involved with everything Zoom, including announcing meetings.)