I Can't Let My Team Work from Home, for Stupid Reasons
I don't know. Now I walk around and ask them, and we have meetings where we talk about it; if I'm not around how would I know if they were slacking off?
Maybe you should work to improve what you measure and how you encourage feedback. It is normally a good idea to have ways to tell if people are doing a good job for what you are paying them to do.
Sounds like you need to level up as a manager. There are other skills to improve how you manage different types of teams and working styles. Your job as a leader is to have a productive team; take ownership of this and adjust to running a productive team in a new way.
People coordinate large projects all the time without being in the same place. You might want to think about improving your processes. Some simple changes could improve your communication.
The last year isn't typical remote work; most companies were rushing to move away from the office, but were not embracing remote work. Remote work, if done well, is not a day full of Zoom meetings. GitLab, a $6B company, has a guide that might be an interesting read. In it, they say that the company is in the Skeumorph phase when they just do everything the same way, but not in the same place. You can mature past this into later phases where you don't spend so much on video calls.
