Regardless of employer, and according to the Fair Labor Standards Act: A salaried employee is paid a set amount of money on a regular basis. Depending on “exempt” or “non-exempt” status, salaried employees may or may not be entitled to overtime or a minimum wage. As an example for exempt salaried employees, their work schedule is determined by the job responsibilities and the company's expectations regarding their availability, as they are not required to track hours worked and are paid a set salary regardless of the number of hours put in. An employer may set core work hours or require employees to be available during specific times for team collaboration. The need to collaborate with colleagues may determine when and where an exempt employee works.
Hourly employees are just that, paid hourly, and work when and where as scheduled by the employer.
There is nothing in the law that references an employee's personal life circumstances, such as work-life balance, family care, commute, etc.
"At Will" is a term often used meaning when an employee accepts a job with a company that practices at will employment, this means that the employer can fire the employee at any time and for any reason – or for no reason at all. Likewise, an employee can leave their employer at anytime.
With all the RTO complaints and venting on this site (and others), employees have limited legal rights regarding return-to-office mandates unless they have an ADA approved agreement. Since most employees are considered "at will" meaning employers can require them to return to the office without legal recourse.
Hope this helps.