Although daily might be a bit extreme, the effect of regular exercise on sleep is pretty profound, at least in my case. I've been sleeping longer and better (according to my Fitbit) since I started working out and running, and if I have to have more than a few days off my sleep really starts to suffer.
You can exercise daily without issue for extended periods of time, you just can't exercise daily to the limit (or even anywhere close to). How to do it really depends on the activity (or activities).
Nice explanation for calisthenics, but if you pay attention you can transpose it to any activity: https://www.youtube.com/watch?v=CA9OklE7r3A
There was a similar blog post at Runtastic but I can't seem to find it RN.