I’ve always believed that functional balance that improves everyday activity is always related to movement. So I think I agree with LostInParadise about Tai Chi.
I do my own version combined with free weights and calesthenics, but if your’re limited by an injury or other pain go easy.
Besides the video links other folks have shared, check this out :
https://m.youtube.com/watch?v=XrU2iVEaUGU
A friend who’s been doing Tai Chi for years told me “If you’re doing things right it should look and feel like a slow dance.”