I'll put in a good word for The Five Tibetan Rites, a cross between yoga and calesthenics.
I've found it helps with strength and endurance, and can be done at home with a yoga mat as the only equipment.
If you want more detail than the standard online resources, there's The 10-Minute Rejuvenation Plan: T5T: The Revolutionary Exercise Program That Restores Your Body and Mind -- the author has taught some 700 people, and has a lot of good advice about dealing with common problems.
This is not a credible source. Yoga is less efficient in terms of the benefits you get out of it per time spent when compared to other activities (like high-intensity activities).
If it's worth saying, but not worth its own post (even in Discussion), then it goes here.