Toddler: better off in daycare or at home?

I typically work outside the home part time and my two year old goes to his grandparents’ house for childcare for that time. But I just had a new baby and am staying home for the year, so I’m going to be with my toddler more (though he will still spend some time with his grandparents). Am I doing a disservice to him by not sending him to nursery school/daycare, for the structured activities and social interaction he would get there? He will start preschool in a year when he’s 3.

I keep seeing social posts about kids his age playing duck-duck-goose or getting their school photos done, and I’m wondering if he’s missing out. He’s outgoing and very talkative at home super shy when we are with other kids.