I want to become more mobile/flexible and feel less stiff. How do I incorporate this into my workout?

I do full-body 3x a week. I really want to get a bit more flexible (touch my toes), feel less stiff.

How do I go about this? Should I buy a foam roller? Prefably stuff I can do at home, or maybe at the end of a workout for a few minutes.

Thanks a lot in advance?

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