I am so happy to be going back to my old health club, where they have great yoga classes and, more of them. My balance and strength improved immensely when I was regularly going. And that, only helps my cycling and skiing. I mostly, also have been practicing at home. I did one summer a few years ago, of a yoga/meditation class at a yoga studio. I was leery, but sad when it was over. Then the studio moved, and it's just too far away for me to go there.
I have never felt judged in a yoga class, but sometimes I get annoyed by the "earthy-crunchy" vibe that is permeating the room. It doesn't always happen, but since you don't have to be like that to like yoga, I try to control my thoughts!
I am very flexible, but yoga is not always easy for me. My balance has never been good, and that is not a function of getting older; in fact it has improved a lot since I started cycling and and more advanced x country skiing. But doing an extended tree pose pushes me. I will never do hot yoga, though. I get really out of whack from any exercise in the heat, and I imagine that I would be feeling faint and having heart palpitations pretty quickly. I can build up to cycling in the heat, but I'd rather enjoy yoga than subject myself to doing it in the heat.