If you're going many days without any human interaction, then the issue isn't your inability to force your colleagues into the same physical space with you. The issue is that you're confusing your colleagues for a personal social support network.
Remote or in-office, that's not healthy. Go outside. Make real friendships with people you don't work with. And if you're struggling with that, then seek help. But don't force me into a car for 10 hours per week, just to help you fake a social support network.
There are those that end up cleaning up after everyone else that don't necessarily have the time to do that because the work needs to get done or someone gets blocked. I envy the people that get to clock out at the normal time, and are free to not consider downstream effects of what they do because that would take too much time away from their social endeavors. At least with WFH, you generally have enough contact info to call that sort of thing out, and ideally, wort it out.
But this doesn't remove the option for people to socialize or interact with humans. If not for COVID there'd be no reason that WFH people living alone couldn't have seen other people over the last two years. In fact, without a commute people now have more time to be able to socialize if they so choose with the people they want to socialize with.
You can't really get time with your kids when you work from the office, but you can get socialization when you're not working.
I think it's important to not confuse WFH life with WFH life during a global pandemic.
Many people WFH and their kids have been stuck at home, they dont feel safe popping to the coffee shop for a few hours of work, and they dont feel safe going to social events.
Once people feel fully safe doing those things and the kids are back in school in person WFH life will elevate for so many.
OTOH, WFH people living alone can go many days without any human interaction.
There is no arrangement that is "best" for everyone.