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The family room at the Compton household happens to be the garage. That’s where Mitch Compton has outfitted a gym with a rowing machine, spin bike, battle ropes and a jujitsu mat. It’s become the Bonita, Calif., family’s go-to space.

Mr. Compton, 41, caught the marathon bug in his 30s, but when he started to feel the aches of pounding the pavement, he turned to CrossFit. As Mr. Compton and his two business partners geared up for the…