That sounds to me more like a team failing to adjust to a good WFH setup than anything intrinsic to the difference between WFH/office work. To be clear I’m not in an engineering role, I’m more of an applied scientist, but I started my newest job the day my company forced everyone to work from home for the pandemic, and overall my experience was very positive. Got lots of support and help, spent lots of time in slack/webex with senior members of the team, and overall had a great experience with onboarding. Only part I didn’t enjoy was IT working through all the hiccups of switching to WFH.