Can I do indoor exercises consistently?

Lately, it has been difficult to consistently exercise outdoors due to the weather and my schedule, so I am considering indoor workouts. While joining a gym is an option, I've found there are also choices like home training, yoga, and Pilates that can be done simply at home. The problem is that when I work out alone, I often struggle to stay motivated, and the lack of proper equipment frequently lowers the intensity of my workouts.

Also, due to space constraints at home, it is difficult to bring in large equipment like treadmills or stationary bikes, and repeating exercises that can be done with just a mat can quickly become boring. Still, indoor exercise has the advantage of being able to be done consistently regardless of the weather, so it feels like a shame to give it up.

Has anyone found a way to consistently stick to indoor workouts or an effective routine? Please share any tips you have on how to keep it going and have fun even when working out alone.