How do you use こちら、どちら、あちら、そちら? Are these replaceable anywhere where ここ、どこ、あそこ、そこ? If possible please provide a few example sentences in Japanese. Thank you.

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こちら means “here” or “this” (sometimes, ”I” “we”), and
あちら: “there”,” that” (sometimes, “they”),
そちら:” there” “that”(sometimes, “you” “yours”)
どちら:” where”,(sometimes, “who”)

こちらは私たちの自慢の作品です。
This is our work which we are proud of.(こちら＝this)

こちらでお待ちしております。
I’m waiting for you here.(こちら＝here)

こちらから連絡します。
I will contact you. (こちら＝I
And in this context, こちら is implying that “Not you, but I will contact you later.”)

あちらの絵をご覧ください。
Pls look at that picture.

あちら側で立っているのは私の父です。
The one standing there is my father.
(あちら側＝there)

そちらには資料をお送りしました。
I sent you documents.(そちら＝you)

The difference between そちら and あちら is whether it is about “you” or others (third-party).

ここ、あそこ、そこ、どこ is the informal versions of them.
And also ここ、あそこ、そこ、どこ don’t have the meanings of “this” or”that”, only about places.