Anyone else feel guilty for enjoying some downtime during work hours when wfh?

Anyone else feels like they have to be working at all times between 9-5 when working from home? I usually start my work by 8.30am and finish by 5.30 sometimes 6pm, but I feel so guilty and worried everytime I get up to make breakfast or a coffee or even eat lunch! I obviously make sure I finish all my deliverables for the day in the end, and on busy days I am usually on my desk from 8.30 to 6 without even getting up for lunch. However when I have some downtime, I would like to get up, walk around, run errands, etc but I somehow find myself feeling quite worried and even guilty at times when I take some time to get up and walk around or make myself something to eat. In my past job, anytime I was from my desk my boss would message me on Teams asking me for an update, maybe it's that experience that I am carrying with me? I do often feel like if I am not on my desk and actually doing stuff, people at work are going to think I am not working. Anyone else feel this way? How do you navigate this?

Update: WOW! This post really blew up, thankyou for all your comments. I do feel better after hearing about all your experiences, so thankyou!