I often do yoga these days instead of walking as well! I love the mindfulness component of it, like a moving meditation.
Yes, we definitely don't have to have a full and comprehensive routine in the morning to feel grounded. Sometimes I only do one or two of these things, depending on what's happening in the day and how long I have. But I definitely feel better when I can incorporate these practices into my morning.
I'm glad this article inspired you to restart some form of morning routine. It's so valuable to take the time for practices that nourish us.