My husband had these same issues nearing 50 and started DDPY about a year and a half ago. I’ve done workouts with him and they are wonderful. He’s way more flexible than I am and has stuck with it.
https://ddpyoga.com/pages/program21?gclid=EAIaIQobChMImpOrw4naggMV9wetBh1vqwHIEAAYASAAEgLm-vD_BwE