That's all miles different from working in an office. They've got cleaning staff and a maintenance team. They've got an enterprise-class high-speed redundant Internet connection (and the on-prem servers are on your multi-GB core network.) There's a break room and free sodas in the fridge. The engineers don't need to clean their own toilets.
I mean, if you think about it, it may be crazy for companies to insist on RTO because of costs of all that overhead they're saving, except for the simple fact that you get what you pay for. There are reasons people work together in offices and not from their homes, there are economies of scale, and there are efficiencies that happen.
I've been waiting for the penny to drop for some time now. Since COVID-19 locked everyone at home with a consumer-grade ISP, I've had plenty of time to read my TOS and service agreements. And you'd be hard-pressed to find such an ISP that actually permits "commercial activity" or WFH to occur on their connections, which are intended for gaming and entertainment. In case you haven't noticed, consumer ISPs don't really care when your connection goes down. The SLA is 0 CBR, best-effort delivery. So, enjoy your WFH infrastructure, but you get what you pay for.
My Site B is the public library, where I've been assured that I can conduct my WFH activities on their network, even in a private study room. That's the best I've got for now. If you're RTO--count your blessings. I have no office to return to!