For start they could provide private offices. Open-plan office is hygienically unsuitable for regular use.
Asking us to return to the office is asking us to effectively take a pay cut and reduce the hours we enjoy with our families.
I'm not sure it's as black and white as that!
I've worked from home for a number of years and I used to think people were insane to want to go into an office but I've changed my tune in the last year or so for one simple reason: hardly anyone is set up to work from home!
At my last company (small, only 21 employees - they got rid of their office earlier this year), I was one of only three people in the video calls with an actual home office. Everyone else was working from a living room, bedroom, or in two cases, the couch with a laptop on their knees.
One of the couch-workers left at around the same time as me recently for a company that worked from an office for the very reason that she could work from an office.
It's horses for courses: some people like it and have an actual space to work properly and others don't. In my case I have a desktop computer, two monitors, a comfy chair, a motorised stand-up desk etc. I'd never get this level of comfort in an actual office.
As well as the physical space issues, there is the psychological aspect too. I spend 5 days a week in the house all day by myself. I'm a contractor so making office friendships isn't something that motivates me (doesn't mean I hate everyone, just some people :D). I'm fine with that. I have a couple of friends I've known for many decades and that's enough for me. I can also get work done no problem and still put the washing on, nip out for groceries etc.
I know of colleagues that crave the human interaction... which is fine. I don't. I get enough from my family and the daily (and mostly pointless) video calls.
However, if I had to work from a laptop at my dining room table, It'd suck hard!
My view may be biased by being young, not having a family and living alone. Though I'm glad that my older collegues are able to spend more time with their family. My parents didn't have WFH when I was young, and I can easily see how a day or two for each parent could have made everything better.
As a final point, as I don't have a very active social life, going to the office fills that "interacting with humans face to face" need for me. That's not a reason to force others to come, of course, but if society switch to more WFH, I hope alternatives will emerge for people like me that have a more "passive" style of socializing. Vocal chat just isn't the same, and webcams don't help.