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I use these foam flooring things in my gym, though it's just over cement because we ripped the carpet out first.

I would recommend horse matting for a home gym. It's what I've had set up for 6+ years and I"ve never had a problem with it. It's a good material...

https://www.youtube.com/watch?v=9dIYkYxX0mQ Alan Thrall did a vid about horse stall mats