So when working from home, the best way to enable actual work getting done is to have a work room that's dedicated to doing work in, and nothing else. No kid's toys allowed in there, no kids allowed in there, no videogames installed on the PC in there, and so on. This was what it took for me to achieve what I believe to be my maximum focus.
I have issues getting to the gym as well, and you describe the externalization that made it easy for me to get to the gym every day as well. For me it wasn't about having the gym on the way to something, but rather having every aspect of my environment upon waking up keyed to the goal of getting me out of the house and into the gym. So my gym clothes are underneath my feet when I swing my legs out of bed, so I just chuck them on out of habit. My gym shoes are visible from the bathroom near the door so I can't help but see them when I go in to brush my teeth and then come out after. My gym card is out and visible as well.
I've learned my brain is too squishy to be depended upon, but when I leverage externalization and make the universe be my brain for me, I can get stuff done I never thought I'd be able to do. Sometimes the easiest way to do that is to get a job that provides a lot of structure for you, but my hope is that that isn't truly necessary for everyone, because having the ability to set your own workspace is hugely freeing and something I think everyone should have the right to do.
I had an advantage in the big push to WFH because I have really bad ADHD and already knew I couldn't trust my brain, and had already read a bunch of books on ADHD and focus and motivation, and so had the strategies ready to go. I feel like if people who prefer office environments, specifically for the reason that they focus better there, had these same strategies, they might be able to find their home office (or a coworking space or library) just as effective as their work office.
I've been using it for a w while, and recently finally got fed up about terminals on my macbook not behaving as nicely as the ones on my linux box with proper tiling window managers, so spent some effort to make SSH into a terminal with completion easy from emacs, and now mostly handle terminals in emacs.