Going to office has been the best possible thing for me. I can see my coworkers, understand the expectations set for me, get instant help from coworkers (and often provide instant help). My anxiety is better and my health is better. I'm not distracted by the 10,000 things around my house that I either want to do or need to do.
That being said, that's only my experience. I think the research shows that remote work is just as productive, if not better. It's better for people who really need to take care of personal things during work hours. The opposition to remote work is far too forceful, especially when companies don't even intend to back up their threats (like in your case). Leadership in many companies seems against the idea for WFH for all the wrong reasons. They need to understand it's a real risk trying to force employees to come back to the office, and you can certainly lose some very important talent by doing that.