BWT how are we getting our bodies rock hard?

For context: I’m back to my pre-baby weight after having two kiddos (woo!). However, now I’m feeling flabby ha. I want to know what are your favorite ways get your body toned and hard. I love yoga and enjoy Pilates. Other types of classes can be so-so, but I’m open (maybe a mindset shift is needed). I have Classpass. I thrive in classes and group environments and suck at working out at home (although I have a rowing machine and have done Chloe Ting’s arm videos). Thank you!