I (and my co-workers) are much more productive in the office. It's not really close.
We are trying to develop a physical product. My office has a workshop where I can mock up prototypes and a lab where I can test them. I also need my co-workers available to review them - I'm talking about manufacturing, quality, product marketing, brand marketing, senior management, etc. My marketing team likes to WFH (for obvious reasons) but if I need them to review a potential change, doing it over Teams sucks.
There are some folks on my team that WFH and it makes no difference to me - purchasing and finance, for example. I know it can work, just not for me.
Obviously, if you are'not working on a physical product, YMMV.
I'm in a similar boat, with a fairly large multi-disciplinary group making a physical product. We did a huge amount of work from home in 2020, and in my opinion the drop off was noticeable. Like Ivan said, the things that everyone knew had to be done or were emergencies still got done, but I think a lot of the little details got missed. Or maybe the coworker who's on a different project but gives you a good idea while you're both getting coffee - those interactions largely didn't happen.
My one sister works in a more project manager IT style role, and she's hardly in the office at all and I doubt it matters much. There's definitely a wide spectrum as far as how conducive a job is to WFH.
I will say, while my company is largely back in the office, some of the more senior folks have been given a lot of leeway as far as actual time in the office, which I hope continues. I'm in pretty much every day because I've got a 15 minute commute and there are machines I have to access regularly, but if I have a morning full of meetings I'll just take them from home and head in around lunch to do the more hands-on work in the afternoon.