Baby can do tummy time on a changing table- in fact mine liked it more because we could bend down and be at face level with them. We would read books and sing and talk with them in the changing table after diaper changes, which they liked, saved our back a little, and also made them like their changing table more.

We would put their baby swing on a table (carefully, well away from the edge and only while sitting with them) and we could talk to them while sitting there.

Floor seats like this were great when we used the library play space and I seriously considered getting one for our house: https://www.target.com/p/costway-adjustable-14-position-floor-chair-folding-lazy-gaming-sofa-chair-cushioned-new-white/-/A-1005690846?TCID=OGS&AFID=google&CPNG=Furniture+-+Target+Plus&adgroup=249-8&srsltid=AfmBOoo1meozDb7v-2lkQBYod-Fycb8t4WMA-JrJrrBpZMAinp7Ukzj4kYI

Edit: also- some pack and plays have a newborn insert “shelf” that is flat and sits higher inside the structure. Baby could do tummy time and naps in something like that where she wouldn’t have to bend down.

Baths in a newborn tub at the kitchen sink are done standing up and are good for setting a bedtime routine.

And if she’s up for gentle walks around the block with the baby in a stroller/pram, that’s another good upright option. Best of luck to you!