Is this a red flag for a “fully remote” role?

For context I live about 30 miles from the HQ. (1 hour) 40 ish miles drive from the office. This is the exact statement from the offer letter. (Engineering based role)

“This role is remote based; however,it requires occasional travel-approximately 20% of the time- to our Corporate Headquarters in *location* as well as to customer meetings and site visits “

The manager would be working remote as well. His boss sometimes comes into office. They mentioned they don’t mind it’s remote but would help to be in office sometimes and get used to things.

Does anyone have this type of literature stated in their offers?