Humans are animals. We stretch. We burp. We fart. We scratch ourselves. We eat. We drink. We dance. We might want to randomly punch something. We nap. We naturally do all sorts of things which are "unprofessional." When we get tired, we need a break to recoup and come back supercharged.
None of those interfere with getting stuff done.
I hate going to work in any job where I'm on display since I need to suppress all of that for 8 hours a day. More with most jobs.
I don't mind going in nearly as much if I have an office with a door which closes.
When I was an executive, I'd sometimes hold longer business meetings with people I knew well hiking, walking, on a kayak, or similar. Those were hyper-productive meetings compared to sitting in office chairs across a coffee table. It only worked for meetings which didn't need a whiteboard or computer, but that's a lot of meetings.
I won't say whether WFH or in-person is the future, but I suspect many traditional corporate practices won't survive.