Something you might look into if you do decide to go the yoga route is going to Yoga Journal, and specifically looking for poses that will stretch you the way you want. Once you find them, Yoga Journal has a sequence-building program that will let you arrange your poses into a realistic sequence, and you can print that out for reference when you're exercising. I did that when trying to get the hang of sun salutation, and I have couple short floor and standing routines that I created with that - I don't think you could do a full workout routine out of their sequencer, but it's great for the shorter types of routines.