I find that as long as it isn't every day and I show up to ask about their public deadlines, compliment them on progress, and offer to help where they are stuck that people don't react like it is a disruption.
I more take some time to roam each day and if people aren’t deep in activity or meetings check in at that point. Afternoons are great as folks tend to be low blood sugar and more opt to be pushed back from their desks, etc.
