Any good, free at-home workout apps?

I’ve recently started working out and I am looking for an app for at-home workouts. My equipment is limited, I just have a mini stepper, weighted hula hoop, and some dumbbells. I know YouTube is a great place to find workouts but I want something more streamlined and that tracks my progress/sets up a long term workout plan. A lot of the apps I’ve seen require a subscription to get an actual workout plan tailored to your equipment/body goals.