>>I don't think that well motivated and engineers work or produce less while WFH.
Thats the whole problem isn't it. Years back I was involved in a project(not WFH), like everyone worked at office. But the manager/lead was sort of a totally disengaged person. He would sit in a conf room all day. And come up with some weird things about freedom to work the way people liked.
There was no ticketing system, the code repo had no real commit and PR rules, no stand ups, no bug tracking, no feature backlog, nobody measuring how the project was going, and if it was even making progress. Only real visible thing about progress was a odd demo every now and then. To make things worse, there were two senior engineers who seem to make their own power structures and bully people into doing whatever they wanted. The project folded quickly enough of course.
Sure if every one was motivated and organised enough, things could have been better. But most people are not. And if people aren't engaged enough they just do whatever they want, or even worse do nothing.
If you are keeping lights on in a project, and have lots of old employees things do work fine with remote work. I think building things quickly, especially big things quickly, does require close 1-1 collaboration, and engagement. I don't think its too much to ask. Sometimes thats just how things work.