yeah i recommend doing circuits on a daily basis at home. never had joint pain but I would guess getting a lot of fish oils, flaxseed oil would help joints. my joints were fcked on take but got better.
strongly recommend getting a pull up bar.
you can do simple circuits, these keep me in good shape/always feel strong
5 pulls up, 20 squat thrusts, 20 press ups, 10 tuck jumps. Then rest for 1 or 1 and a 1/2 minutes. Then repeat, aim for 3 or 4 sets. Build up speed and sets.
Another simple circuit is 5 or 10 pulls ups followed by 5 or 10 squat tuck jumps (squat down and then jump as high as you can back into squat. Rest for 1 and 1/2 minutes. Then repeat for 4 or 5 sets.
my idea here is to do something fairly simple, that doesn't take much time, that i can easily do at home. if you do these kinds of circuits every day or every other day you will notice big differences after a month. you can literally do these kinds of circuits in 10-20 minutes. Who doesn't have that amount of time whilst at home??