You're looking for Easy Strength. Follow the set and rep scheme. Never miss a lift - never even come close. Pick lifts that work with the equipment you have, and change things up every few weeks. Workouts can last just 30 min. Finish the workout feeling fresher and more energized than you started.

I recommend getting a door frame pull up bar, some elastic bands you can use to take weight off pull ups, a device for hanging weight from yourself to add weight to pull ups, and an ab wheel. This prob won't set you back more than $40, even buying new.

Otherwise, you can look into tons of other classic lifting programs like starting strength, strong lifts, greyskull LP, etc - but these typically assume access to a barbell.

But honestly my best suggestion is to get into some sort of strength-based social activity. Join a gym/club for powerlifting, strongman, oly lifting, highland games, wrestling/martial arts, rock climbing, parquor/ninja warrior, acrobatics/acroyoga, aerial arts, gymnastics/calisthenics, landscaping/construction, the field part of track and field, crossfit/bootcamp/group fitness classes, obstacle course races, etc. The workout that works best is the one you stick with, and the one you stick with will be fun and friendly.