If you have the exercises in mind, especially since you’ve already worked out with a trainer, you can recreate the routines. I currently use Hevy and it sounds like what you’re describing. Before Hevy, I used Strong. Both are great apps available on iOS

I'm not sure if there is an IOS app for it but I use bodbot. It will give you a workout based on what you are wanting out of it. So if you are wanting to build muscle mass it'll organize routines based off that goal. I will say though that it's been a long while since I've utilized the free version. I paid for lifetime access some years back. Certain features were behind a pay wall that I wanted access too and I justified paying the rather hefty one time fee for it. You may not need those features so it may not be a big deal to you. Here check out their workout generator and see if this is what you are wanting.

Fitbod is a really popular app that does pretty much exactly what you’re asking for. It’s not free, but here’s a referral link to get 6 free workouts before you have to pay anything. As far as I can tell. It’s the best workout planner available right now if you want to be completely hands off with it.

It will tell you what exercises to do, what set and Rep counts, what weights, etc. You can program it with exactly what equipment you have access to. And even multiple different profiles if you workout in different locations like a gym, at home, body weight only, etc.

They do have short videos in each movement you can choose to view that shows you how to correctly do the movement, but they are there for reference only. It’s not meant to follow along like a fitness+ video is.

I use Olympia. https://apps.apple.com/us/app/olympia-your-fitness-trainer/id1504429102

Lots of pre built workouts based on experience and goals. Has gifs of exercises if you are unsure how to properly do them.

Liftosaur is really good