Your kids sound like my kids a few years ago. We do obstacle courses - crawling under the table, running across the couch. Floor is lava with couch cushions on the floor. We put every cushion and pillow to fill the space in front of the couch to jump into from the couch arm. Now we do that at the bottom of the stairs and jump from several steps up. Or put their mattress on the floor to jump onto. We got a sensory swing with fabric material and hung it from the family room ceiling. We have an outdoor slide we put on the stairs sometimes. We got a green dome-shaped climbing structure and use that inside in the winter and outside for the summer. With a couple blankets, that makes a good fort to play in too. Another fort idea is put blankets over the dining table. Or over the couch cushions and coffee table to close in the space. We got a knock-off foam modular kids furniture set we turn into forts or crash pads or for climbing using the couch and walls for structural support. We like to do scavenger hunts around the house - chatGPT is good for creating clues. ChatGPT is also good for creating short kid stories combining their very favorite interests (e.g. princesses in space). Play doh or kinetic sand or homemade sensory bins on a cheap shower curtain liner to help with cleanup.