Essential workers - get back out there because I've been inconvenienced for too long now. If you work in healthcare, get back out there without adequate protection, because I might get sick.

How about this? Essential workers get healthcare, a living wage and (if undocumented) citizenship.

Period.

If we can't afford to pay our essential workers enough to live on, can't pay to protect their health, and can't call them fellow citizens, then we're just talking about slavery.