Welcome at any time @saramiller ":)

And yes i have not yet done it myself doing a retreat but it would definitely be a great experience.
Studies also have shown that those who meditate visit the doctor far less then people that don't.
Scientists are still not 100% why that is but it does indeed do something with you.

But we get overloaded all the time with so many things that even the smallest thing can feel like
the heaviest load to carry. Being able to actually clear that gray mass for once and have just absolutely no thought at all is just amazing.

And specially the 20 min is very relaxing as the body natrual tries to fall asleep with your eyes close in around 15 min. So the last 5 min are most of then the fun part were, you completely unfocus because there is nothing anymore in your head to focus on. Thats also the part that like keeps you in that easy and relaxed mood / mode for like an hour or 2 after the meditation as the body once again slowly awakes.

I my self have some good portion of hyperactivity and meditation is for me a solution to find some rest in that head of mine and i love it :)

My favorite would be lucid dreaming but its very hard. I had once that i became conscious but for a lot of first timers you can get scared and basically awake in a nightmare if your lucky..
After that didn't got it again what is a true shame :(

But definitely keep doing Yoga and if you have the time meditation
it does indeed help a lot with stress and its good for the body to.