You’re already lifting, so that is a good start.

As you hit 30 and beyond, you absolutely need a stretching/mobility routine. Whether it is yoga, or short 10-15 min rolling/stretching programs (eg “limber 11”) that you can do when you wake up. Things like BJJ and also great for body awareness and getting you moving properly.

In terms of lifting, in my early 30s I transitioned entirely to minimalist kettlebell programs and feel much better than when I was doing heavy barbell work. Plenty of info on the net but a good starting point is to get a 16kg and 24kg kettlebell and start with “simple and sinister” (just swings and getups), and progress through a whole other bunch of minimal programs (2-3 movements eg ROP, DFW), and see what works for you.