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The best home gym workout is one that is able to incorporate the equipment you have, however limited, in a way that allows you to get a workout comparable to those who train in gyms. It's basically a matter of making the most of what you have.
Now, we will take each muscle group one by one and lay out a variety of exercises you can do at home which will allow for the best home gym workouts without the worry of requiring equipment that could only be found in large gyms.