Rubyee, sounds like you have what you need. But just to add my two cents: I'm 6', 240 pounds, male, 48, and not especially bendy. But I've practiced hatha yoga once or twice a week for five years, partly because it's a great way to relax and partly because it staves off back attacks.
Here's the key: no matter how well or poorly you do the exercises, _they will help you_ if you attempt to do them correctly. I learned yoga from a woman who also taught it to senior citizens recovering from heart surgery. Anyone can do yoga, and benefit from it. You may never do it as well as a five-foot-tall, bendy, 18-year-old female, but you don't have to to get the benefit in health, state of mind, increased flexibility (even I have), and so on. I do it with a group of (mainly) paunchy men 45-72; none of us are experts, and we do fine. No, top physical condition isn't necessary at all.
Little space is needed. I would take a class to start; in two or three months you'll know some basic moves, and from there you can either go on to an advanced class and learn more, or stay with what you have until it bores you. It really isn't hard to learn -- just a series of moves and procedures, and the teachers will walk you through each one, every time as part of the usual monologue they give while leading a class. I've found that perfectly good yoga instruction is available through park and recreation departments, community centers, and so on.
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