I really enjoyed working in the office when I didn't have kids. Hanging out with coworkers after work was pretty normal, and sometimes my wife would come along too. We're still good friends with a lot of my old coworkers. In fact, those are the people we hang out with now.
But now that I have kids I'd rather spend time with them or on my hobbies with them or hanging out with other people with kids while the kids do kid's stuff.
It's true, I don't know my current coworkers nearly as well as I did my old ones, and that's been a bit of a problem. We have occasional in person events and it's always a good time.
But that's because it's infrequent. Giving up my flexibility of working from home is something I will never do. But I totally sympathize with people who don't have kids and their social circle is their coworkers (that was me!).