Have you tried rock climbing? You might like it, and many rock gyms also offer a set of other classes (maybe even cross-fit)
I'm not too good with heights and the equipment faff doesn't really appeal. I like bouldering but not a fan of climbing.
Indoor walls are often good for bouldering
also tend to minimise equipment faff just clipping a harness onto a ready set rope
I'm scared of heights but love bouldering, haven't been for years mind.