This is what warmup I was doing before weightlifting, and it made a big difference in my comfort level while riding for me (because it also stretches things out):
https://www.defrancostraining.com/as...y-routine.html

The youtube video wasn't showing up on the page for me, so here it is:
https://www.youtube.com/watch?v=FSSDLDhbacc

The other thing I did was exercise videos. There's a number of muscles that make biking more comfortable and safer, but don't get worked while biking (like your core) that you have to work seperately. Also doing different things to stretch out my hamstrings helped a lot, biking basically makes them tight as all getout.

I'm in no way suggesting that people should do this unless they feel like they're having a problem, just a suggestion that helped me a lot.