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Jazzercise! I’ve been taking classes a few times a week for about a year now.
The choreography is not difficult, although it is not just drills. In my experience, the instructors are terrific with their cuing and if you don’t catch on with the first couple of moves, the routines have enough repetition (but not too much) that it’s easy to catch on.
The instructors generally show low impact options and it's easy to increase or decrease the intensity as you see fit. The classes are usually about 35 minutes of cardio followed by 20 minutes of weights and stretch. (They are introducing some new formats though, including “fusion” which alternates the cardio and weights.)
The enthusiasm and encouragement in the classes is terrific, and the music is fun!
I don’t ever get the sense of competition that I have found in some group classes.
Most facilities will let you try a class for free, or you can just pay for one class. I think if you got a good workout from your water aerobics class, Jazzercise could be comparable.
HTH!