After working from home for the most part of the year I don't think I could work from the office anymore. The productivity boost and focus I get at home is great. And on top of that the free time saved from commuting is a real luxury.
I believe it's good for the company too. There is always some wasted time at the office socializing and doing other non work related things.
Of course I do miss the people. It's not the same seeing them on video call. It's fine for occasional one on one chars, but those don't just happen like they used to in the office, the water cooler chats. The online alternatives that try to replicate that just don't feel natural and lead to awkward situations that makes you not want to take part of those at all.
It's sure also easy to keep in touch with old colleague's from the office days whom with you have already become accustomed with, but it's really hard to get up to that level with the new people. There are people joined the company during the past half a year I haven't once talked with. I don't really know who they are.