The only thing that has ever worked for me is gamifying it. Ring Fit Adventure, Oculus Move, Apple Watch competitions, etc.
I scoff no more. No, it's not the same as a 20 mile run in the mountains, duh. But for my off days it's a hoot, and I look forward to it. It'll never be hard workout for me without a weight vest or something, but it's enough to get some work in on areas I might not otherwise hit at all that week. And, whoo boy, I'll admit to feeling it on some of the harder ab exercises.