Legal or not, it doesn't matter. I work on my computer on our network and I am doing project management for cyber projects.You are Assuming just because somebody said that companies have rights, that they are flipping burgers somewhere which is just making an *** out of yourself. I work at one of the most expensive luxury hotels in Upstate S.C. and I enjoying going to work ever day and giving our customers the best quality service. If some people are not happy that that they have to return to the office then quit and find another job where you will be happy. That really is your only option if you don't want to go back to work. But my point was from a legal standpoint it's going to really hard to convince a jury in a lawsuit that it's unfair for an employer to ask you to come in to work. Good Luck with that.
EVERYTHING I do is software based. I don't need to be on premise unless there is an operational requirement which is only 1-2% of the time.
The only reason why I am going to office every Tuesday is for managing someone insecurities...
I was doing my entire job from home during the pandemic, and there was no difference.