I would suggest that it's possible to interact with people outside of work. It's genuinely sad to me how many of these "if I don't go into the office I have no one to interact with" posts I see.
People are often in a weird headspace at work too and a bit guarded. I don’t know why that as a social setting is inherently healthier than surrounding yourself with people outside work.
I have a circle of friends and a habit that we keep since 20+ years: every Friday morning we meet for a coffee in a physical coffee shop. Location varied along time, I lived as close as 2 minutes walk from my apartment to (now) 1 hour drive (because of the traffic).
It's not a religious thing, people miss meetings. Got other stuff, or just not being in the mood (like I drank till 2 AM, no way I'm waking up at 6 so I can be out the door at 7 so I'll be in the coffee shop at 8, stay an hour then back home). But the habit has stuck and we kept our friendship. Some people have left the group (one died), others joined it. It's easy to expand a group once you have a stable kernel: just go out for some coffees at day or drinks at night and talk to people.
I get along well with work colleagues as well, mostly I'm asking the question: if I leave this company, will I be ever talking to these guys ever again? If the answer is yes (stay in touch through WhatsApp and the occasional beer in a bar) then they're more than acquaintances and useful connections in case I need a job. Like recently got laid out (whole office closed, some 200 people fired), found a new job in less than a week. Connections, people.
So office has some value but it's far from being "the whole world".
When you go into the office, you can build quite a history with people over time. I have good friends that I've worked with (off and on) for over 25 years. And we are not just "work friends". I've also felt much a part of a "team" working in person than wfh and those connections and trust can manifest in the work too.
I think that we need to continue to acknowledge that this is a human preference. And we all have quite different history, goals and situations.
It’s not that I don’t see friends and family outside those hours, it’s just that those hours constitute like half of the awake hours of my life, and the grind sucks when I do it alone.