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20 min each morning is a great pattern to get! I found I get a great workout doing one or two 8-12 minute boxing or combat style workouts with the VR headset (FitXR on MetaQuest has been my primary). Makes it feel like playing a video game, rather than just exercise.

I definitely think it is making a difference. I just wonder if I committed more time to it if it would make a bigger difference.