Early in my career, every dev had their own office with a door. That was unbelievably excellent both for people's general outlook and for the quality of work.

After that, it was years and years of cubes. That was less than ideal, but people made it work. Then open offices came into vogue. That was hated by the majority, and the quality (and speed) of work sorely suffered.

Perhaps the compromise position for RTO could be: you have to come to the office, but you get your own actual office.