What’s the best way to fill in “gaps” between rooms?

This is part design question, in a way.

I’ve designed a dungeon. The individual rooms look nice, but there’s gaps between them and around the corridors. It doesn’t look terrible and I’ve set the background to be a complementary color, but I think filling in the gaps like in this example would look better.

My project is in 3D, though.

This guy has some great dungeon generation writings:

https://journal.stuffwithstuff.com/category/roguelike/

Particularly this one, which has functioning Javascript examples:

https://journal.stuffwithstuff.com/2014/12/21/rooms-and-mazes/

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