If a manager needs to see the workers to manage them, then the manager is a poor one.
Workmates are not friends. Repeat after me, requiring a person to have to do something to make money to live is not a reason for friendship creation. At best friendship can be made; however, it's basis is in the form of "trauma bonding".
So with that viewpoint, if a person has to go to an office to have friends, and they can't do so through other activities that are paid for, they should review their life goals and purposes.
People are not robots, forcing people to spend unpaid 1-2 hours a day commuting, preparation time or money to eat during the day (and a commute), and saying do X during Y to complete Z does not mean the most productive and best product.
So using a factory floor model for some jobs is not "smart"; however, there is a place and time for hours and having people in place (retail, hospitals, factories etc). Going to an office means "I must use a hammer with everything".
Now to be fair, some people are not productive or disciplined enough to work remotely. This means low-value workers should be required to be in an office. So maybe one has WFH good workers come in a day or two on their decision to help those in the office perform better until they can be like a baby bird and released from the nest.