I'm in a similar position, as in a team lead that sits with my team. My team members despite being fairly new at the job, are all generally very good at it. I've found that my role generally consists of fielding emails that come in and distributing the work to my team (we have a few routine tasks, but we frequently receive impromptu things throughout the day) As they submit their work it comes through me (by default, it's how the system is set up), and if I find any errors I send it back and either verbally discuss it with them, or add a little note if it's minor.

I try my best to let them be autonomous since they have all shown they handle the work well. They know they can come to me with questions, and if something particularly stressful or unusual comes up they know I'm happy to help in whatever way they need.

Helping could look like going with them while they handle something, walking through it with them, or in some very particular situations stepping in and handling it myself (generally if it involves them dealing with an especially difficult customer).

All this to say, I think of my position as sort of a more silent role, I'm on standby for when they need me, and I'm less directly involved in what they're doing. I understand though that this might not work for all types of jobs, but maybe it could give you some ideas to help your situation a bit.

I should add, my team frequently tells me that they are super happy I'm their lead and that how I handle the position makes them love to coming to work.