I haven't been able to stand instant coffee at all
There's a joke that europeans have about instant coffee, they don't call it coffee, they call it 'instant' and they're very apologetic if that's all they have to serve, haha.
I don't want to spend so much just to get my foot in the door, I kinda want both equipment and coffee to be under 1k for now
Mokapot is probably the best option, i got a couple over the years and I never paid more than a few hundred. Most large-chain super markets have them for a lower price than Amazon. They're usually aluminum too, so they'll never rust and last a very long time.
You can get preground coffee from places like Blue Tokai, but order directly from their website instead of Amazon, the coffee is fresher. That said, I do have ground coffee that's been stored in an air tight container in my freezer since 2018 and it's still pretty good. Be warned though, it's a deep hole. Once you've had good coffee, it's very difficult to enjoy instant. Yes, five year old ground coffee still tastes better than instant.
Once you know how much sugar you like your in your coffee, add sugar to your cup first then slow pour your coffee in. I spent years doing it the other way around, struggling to get it properly mixed and dissolved. Then one day I saw someone's grandmother do it this way at IKEA and I was blown away with how much easier my life had become.
For foam, this manual contraption works better than anything motorized and takes less than 30 seconds if you start with warm milk:
It's much easier to clean too, just rinse in hot water with a small dab of dish washing soap/powder.
Also like others have suggested, use full cream/fat milk. I use Amul Gold, that's what most coffee places here use. The packaging is white/red and it comes in both box and bag. There's a world of a difference between something like this and toned milk. I could never enjoy toned milk coffee even though we're all riddled with cardiac disease in my family (primary hyperlipidemia).