This depends. The problems we've been working on as a team are really too big to work out on a whiteboard. I think for my team, WFH is just fine. I'm nearing the end of one of the most complicated software projects I've ever worked on and don't feel like any of our issues were related to WFH.
Over the last year I've actually started to connect with my team. We have weekly video chats and spend hours socializing. As an older engineer with bad hearing, video chats are far better than crowding around a big table in a cavernous, modern office.
My only complaint is the environment I have to work in. Silicon Valley real estate is sub-par and high priced. I've been looking for a new apartment with a spare bedroom for months but the only units available are far away or run-down. If I knew I could WFH forever, I'd have left already. Here I am, waiting, because I have no idea when I'll be required to go back to work.