My workout tastes haven't changed much; I fell in love with strength training the first time I picked up a dumbbell some 20+ years ago and I plan to keep lifting as long as I can. I'm smarter about it now, though.
I've found that modifying is a wonderful thing. I'm another who used to beat myself up if I couldn't do the workout exactly as filmed - heck, I even did the Volume 4 Dork Dance EVERY time.
Now I'm all about protecting my iffy parts (wonky wrist, tendonitis in one toe) and have no problem telling my TV, "nah, doing forearm planks instead of burpees here, I'll catch up with you."
I also have to warm up well. I need to break a light sweat before I start, or my muscles will tell me about it later. For a while I was doing 15 minutes on my treadmill before any workout, just to get going.
My nutrition is a huge part of working out. I still do cardio on an empty stomach but I've got to eat before strength work and eat right away after any workout.