I've been pretty committed to full body (at least mostly) the last year or so. Over the last 5 months I've honed it into more of how Jordan Peters walks through it here:
I can usually get through 3-4 full body workouts a week within an hour each. The only way this has been possible is I've radically changed how I complete a rep over the last 5 years. It varies slightly, but it always falls between...5-8 second negative, hold contraction for ~3 seconds, 4-7 second positive. There is not a single solitary ounce of momentum used at any point, in any rep. You'll find the amount of warmups you need are almost non-existent when you train like this. I do just one set of total failure (but don't use beyond failure techniques).