We've RTO since May 2020, but TPTB, through pressure from our Karen KR exec, forced TPTB to make major concessions.
About a year ago, the CEO put his foot down: RTO or find a new job. And he followed-up on it.
Our little department tries hard to accommodate employees due to personal needs/situations, and everyone is within commute-distance of the office and most actually do the work when WFH, but we also aggressively performance-review out those who don't perform.
It works for us, but it can be a pain in the ass to manage.