Maybe start with baby steps, like working from home.
You could ask for one day a week.
Or...you could just do it? Like, for me -
Several years ago I was pregnant, and occasionally I'd have my doctor's appointment at 10 am.
It didn't make sense for me to drive to work at 7:30 (10 miles), drive back to the doctor (which was near my house) at 9:30, drive back to the office at 11.
So I started just taking my laptop home and working from home those few hours.
I do the same thing now if I need to meet a plumber in the morning, or if I'm sick, or a kid is sick. (My current boss is VERY understanding - but even when I had previous bosses, they didn't really care - they understood if I had "something to do"). Depending on the boss, I may or may not let them know.
So work from home 1/2 day when you have to meet the plumber. Do that a few times.
Work from home when you have a sniffle, because you don't want to spread it around the office. Do that a few times.
See how it goes over.
I've never moved to the "working from home" for a full day thing though. I did work PT for awhile, but I had kids.