I agree that the commute creates a healthy firewall between work and personal life, this is why I recommend remote workers to find a coworking space to commute to.
Not only you get a clean separation between "home" and "office", but you also can socialize and have colleagues to go with to lunch. And you still have all the advantages of remote, because if you feel like working from home rather than the coworking space one day (or from a different country for a few weeks) it doesn't make any difference for the people you work with.
Interestingly, I consider the lack of such a firewall to be one of the benefits of working from home. If I am having trouble getting into the swing of work during the day, I can go play with my dog. If I'm thinking late at night about a problem from work and have an idea, I can go try it... no need to setup the computer because it's exactly how I left it earlier.
I would do this but the monthly cost of co-working space in my area is astronomical. Like around $500 per month for a desk.
The next best thing is to do a small co-working space plan. Something that's around 20 hours per month. On the other days alternate between your home office, the park, the coffee shop, etc.
When I worked from home (I don't now), I built a routine that was commute-like. Ending the day seemed like the most important bit, so I'd deliberately stop work, take a shower, and go do family time.
Not only you get a clean separation between "home" and "office", but you also can socialize and have colleagues to go with to lunch. And you still have all the advantages of remote, because if you feel like working from home rather than the coworking space one day (or from a different country for a few weeks) it doesn't make any difference for the people you work with.