If they want people to come into office willingly, something needs to seriously change. Perhaps change hours from 9-17 to 9-14 for people coming into the office

If they want people to come into office willingly, something needs to seriously change. Perhaps change hours from 9-17 to 9-14 for people coming into the office. The output would likely drop but perhaps that's what you need to do if you want people to want to come back to the office.