> I know its unpopular to say, but when I have my 2 programmers in office, we get sooo much more done than at home. Someone gets stuck and we don't message/call, we just talk.

The technology exists to "just talk" in high-definition audio and video. If somebody isn't asking for help when they're stuck that's a people problem, not a remote work problem. There are several possible reasons for their avoidance; if multiple people are exhibiting the same behavior it could be cultural (specific to your workplace, not the person's upbringing). Using physical presence to force their hand is curing the symptom, not the underlying cause.

But it gets solved when we are in-person.

We could develop new technology, research culture solutions... or... meet in-person.