A bench, adjustable dumbbells and a pullup bar will get you there. Lots of home/garage gym information out there. And then there is body weight training, yoga etc if you don’t want to work with weights.

But then there is the motivation and discipline factors. For me it is easy to put on a workout video but also easy to not really put in any effort. I’m bad at holding myself accountable at home. So instead I go the gym. One should also never ignore the social aspect of hitting the gym even if you seal yourself off with headphones and never talk to anyone. You do become part of the group/scene. And if your gym offers them I will recommend classes.