I started a bodyweight routine (the Reddit recommended routine) in March and have had awesome results so far. It can be daunting to get started but you can do full body workouts if you buy a set of rings and a pull up bar. I eventually put a bar up in my garage but I was able to start working out with one of the basic door mounted bars at first. So you really can get started with very minimal upfront equipment costs.

I could probably target my leg muscles more effectively at a nice gym with barbells, but after 5 months, I'm still working through bodyweight based progressions for deadlifts and squats, so I don't feel like I've plateaued yet. I've made big progress too. When I started I could barely do a single pull-up and now I'm up to 3 sets of 6 per workout. Similar story for pushups, I can crank out 20-30 of those now no problem, where I struggled to hit 5 before.

The ease with which you can get fit at home has been one of the pleasant surprises of this pandemic.