An excellent stepper option that still has a small footprint relative to others
Steppers + climbers
Climbing workouts are great for the entire body, and there's a substantial variety among the different ways to achieve such a workout.
A quintessential climbing workout is the VersaClimber, which is an excellent way to work out in a small footprint. Also available are more traditional rotating stairs from brands like Stairmaster, which are like what you'd find in many serious gym facilities.
The range of motion and amount of upper body engagement is different from machine to machine, so we'll always advice that you try it first before you decide to buy one, especially if it's going in your home.