The aim of a warm-up is also to wake up your cardiorespiratory system and your muscles by gradually increasing the intensity of your exercises. To do this, I recommend boosting your heart rate by doing dynamic functional strengthening with movements including light jumps such as burpees, knee raises, jumping jacks, squat jumps, etc.
During the recovery phases between each movement, I suggest you perform exercises to warm up your joints, such as dynamic mobilizations, wrist, shoulder, elbow and ankle rotations, and arm and leg flexions/extensions.
You can also opt for 5 to 10 minutes of cardio with a choice of slow running, brisk walking, rowing, stair climbing, elliptical or cycling. You can then continue with exercises to warm up your joints, using movements adapted to your planned effort.