I had lunch, not too long ago, with a senior executive of a silicon valley tech company that was moaning about how much of a pain it was to get people to come into the office and how it felt like things would never return to the way they were. And I told them I actually knew of a way to get 100% of their employees to return to the office happily. When they asked what this magic bullet was I said, "Go back to offices,…
I personally can't stand virtual meetings with more than 2 or 3 people. They are wildly more inefficient then in person. Add on top a meeting focused on brainstorms or discuss and it's a shit show.
Give people a reason to return, and have it actually be true, and people won't complain about being asked.
But just saying "you need to be back in the office just because" is just going to breed resentment.