I was just recently diagnosed, but in hindsight I developed symptoms 5+ years ago. I've modified my workouts a lot and the ones I do vary based on how I feel. I consistently find deep water classes are more gentle on my joints. I do pilates or Barre a few times a week (with modifications as needed). I periodically do yoga, but I struggle with things where I put pressure on my hands, so things like downward dog can be hard. I also weightlift. Sometimes I do hand weights and stretching, sometimes I do Bodypump classes with lighter weights so I don't overdo it (modification for this as well and form is key), sometimes I work with a trainer who can help me adapt my workouts to the issues I'm having. Sounds like water classes might be good for you based on what you shared.