MY company does hybrid remote/on-site, and one of the best ways to mitigate issues with off-site communication is part-time work from home. Since on-site workers spend some of their time as remote workers, everyone has a good idea of what's required to empower remote developers.
It's not always roses and rainbows, but it definitely helps.
The company I work for does hybrid remote/onsite as well. I'm remote and I actually think that having onsite people take some remote days is almost required to get things working. After people take a couple of days remote they suddenly understand the issues a lot better.
Also for me, not always roses and rainbows. But that mutual understanding is really helpful.
WHY?! What parent poster describes above seems like "heaven" to me. Some people can be "true nomads", others can spend 50% time in office, 50% working from home, everybody can be happy and find "what works for him/her".
I hate both working in-office full-time AND working fully remote. But a mix sounds awesome, I always feel energized when working one day from one place, another day from another, and I also enjoy having the meetings in-person...
It's not always roses and rainbows, but it definitely helps.