Crescent lunge is my go to pose these days. It’s a very similar pose to Warrior I except you don’t rotate the back foot out 45 degrees, instead your back foot remains pointing forward, grounding through the ball of your foot.
You can get so many benefits from doing this pose. Most significantly, the stretch you get through the iliopsoas (hip flexor) muscle of the back leg is greater than the one you get in Warrior I, and when done in a certain way (see infographic below for alignment points), crescent lunge allows for stretch along the whole frontal myofascial line. You also gain stability and strength around the knees, ankles and core, and energetically, this posture lends to generating a sense of power within. This is a great pose to counteract the postural stresses of prolonged sitting.
I love this pose, but it is challenging. For a modification you can do this pose facing a wall: with your front leg position your toes to touch the baseboard and bend your knee to press into the wall ( you can use padding or a block for cushion on the knee). The back leg steps back, in a straight line, pressing through the ball of the foot. Ensure your hips are square to the wall and then concentrate on the alignment points indicated in the picture above.