How do I get the Nest Thermostat to warm up my house prior to arrival
You can use an application like Stringify on your phone to do this.

The application can be configured with a geofence around your home.  As the phone is detected entering the fenced zone, i.e. you are approaching home, it can switch your Nest to home mode.  Alternatively, set a fence around work and have it set Nest to home mode as you leave work.

There is a "Flow" to do this on their website.  You can play with this to adapt it to your needs.

Alternative such phone apps include IFTTT and Zapier.

(Of course, you could also replace Nest with one of the competitor smart thermostats that do all this GPS phone integration automatically anyway.)