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Same - I've always had contract (but the sample size is quite small). The problem is that even if you have "full remote" in your contract, you also probably have "at will" in the same contract, which IMO means they can still play the game of "come in person or you're fired".

You're almost certainly mistaken. An employment contract is a very specific legal document that ensures certain rights (including pay) and obligations. You (almost certainly) do not have a contract, you work "at will." Your pay could be changed to minimum wage tomorrow and you'd have no legal recourse other than to quit. Similarly, you could quit your job with no notice today and your employer could do nothing. Neither of those would be true if you had an actual contract.

I've worked for 4 companies in the U.S. and they only sent Employment offers/letters/agreements that I had to sign. Didn't see the word contract in any of them.