Diversifying Workouts

Hi all — I’m 35m with many shoulder surgeries, in need of hip repairs, and with bad knees. This has taken me away from playing pickup basketball, which I used to love. I have been strength training since I was about 12. After college football, I got away from cardio (I dreaded it). Over the past two years, I’ve taken up a daily walking practice and really enjoy it. But I’m wondering if there are other low impact ways to elevate my heart rate consistently. Interested in all thoughts.