What is some good advice for managing staff remotely?

As many of you know, we entered the 2020's ushering in an age of remote work and telecommuting, a side-effect of the early years of the pandemic. However, as offices went vacant, businesses lost regional tax incentives, incurred penalties on early lease termination, and had to reconfigure the way resources were managed. Companies are now requiring employees to return to the office, but there is resistance from those who find remote work beneficial, e.g., no gas, no wear and tear on automobile, no traffic, no time spent commuting, more time with family, etc. For those of you managing remote workers, or for those of you working remotely, what are some of the key practices that have helped your business maintain a productive remote workforce?