Re: I never want to be in the office full time
There are always some things that work better face to face - but they are rarely the 'meat' of what you are meant to be working on, but meta-work (i.e., meetings to plan work or discuss work). That's because a screen-share Teams/Zoom meeting is not an adequate replacement in these situations.
So I think people need to come into the office one day a week to handle these meetings, have a team lunch, and do other 'non meat' work that can benefit from the focus that being with the other people can bring. The team should decide on the day of the week that works for them all, and stick to it. If your work has more meetings then maybe another day or two. Especially when combined with a policy of 'when you are WfH you should not have these meetings, so you have all day to concentrate'.
Another reason to come in is if you are a new joiner (or changing team within an employment) - it helps with bringing someone up to speed if they can ask easy questions without the rigmarole of a calls and screen share and hoping that the other person is able to handle the query ("busy? does that mean busy busy or what?").