I had a similar experience but a different view than you. My last job had no in person requirements but we had an office for people who chose to go.
I did a couple times a week for a few months, and it was actually pleasant, because I knew the people that were there chose to be there. I would socialize with them knowing that they actively wanted to be in a space with coworkers to socialize.
Normally I’d be hesitant to strike up a conversation with someone from a different team in the office because there’s a decent chance they just want to put their head down and work because they don’t want to be there and would rather be working from home, keeping communications strictly to what’s necessary.
Sometimes I would feel less social for weeks or months and wouldn’t go into the office. It was nice to have the option to do both.