ALT + S should work the same in 2.92 and 2.93 as previous versions.
@alataks
It seems that (at least on my computer, running 2.93) you can’t hit E to extrude and then left click to place the extrusion there. On my PC it cancels the extrusion (I wonder, is this a setting possibly?) so that when I went to alt-S it just scaled up the faces and didn’t make it look solid.
E to extrude then left click (confirm) does work in 2.93. ALT + S without the E (extrusion) first will scale the faces as you mentioned.
Another tip when using ALT + S, After pressing ALT + S and moving the mouse press S to toggle Even Thickness ON/OFF.