Since my back surgery cardio has been challenging say the least. However I get a pretty good cardio workout on days I take only 30-45sec rest between sets. HR stays 120-170 which is giving the same benefit as if you were walking, jogging, stepping, bike, etc.
Daily 30-60min of steady state cardio I’d say is probably the most beneficial.
Before my back surgery I would still keep sets to 30sec-1min rest and I like to do sprint HIIT training for 20min a few times a week, 20min battle ropes or hitting the heavy, and a 2-4 mile run at least once a week.