Get body warmed up (jogging, BW squats, pushups, jumping jacks, mountain climbers, skipping, etc.)
Mobility drills (lower and upper body)
Activation exercises if necessary (scap pushups, glute bridges, etc.)
I also do build up sprints through out the warm up. 50%, 75%, and 100% at end.
This take maybe 10 minutes
Then I do the normal warmup sets before my exercises.