@bridgida What you're looking for comes in three parts. Strengthening your muscles, tendons, and ligaments, having the flexibility to do a variety of movement patterns, and being in good enough cardiovascular shape.
Training through a full range of motion in your movements will help with the 1 and 2. Working on mobility work to help improve your range of motion, while strengthening things, will help a lot. And finally, you're going to have to suck it up and do some dedicated cardio. I'm talking, 20-30 minutes a day of sustained cardio, where your heart rate is around 120-150 throughout.
If you have the time do do so, I would probably try to do 1-2 yoga workouts a week, 2-3 lifting sessions a week, and 2-3 cardio sessions per week.