Of course you can. And you can have human contact at work, which makes work a lot better.
Not if you’re depressed by the fact that you’re losing 2h a day going to the office, wasting 30$ in parking fees and know that your pet is back home stressed out from being left alone for 10h.
So? Even going one day to the office is enough to make some people feel stressed out and depressed. I’m not even talking about people who need specific accommodations that they have at home but aren’t provided to them at the office.
Work from home makes it even better than listening to coworkers trying to chat you up when you are working. You can have “human contact” with them on optional outings with the team. A coworker isn’t a friend, it’s a colleague. They won’t stand up for you when you get treated unfairly at work, they won’t risk their job to save yours. So unless your “human contact” includes inappropriate stuff, I don’t see any benefit to it over staying home with the family you love, cuddling pets and skipping a long daily commute.