The "2020" program. 20 mins - 20 reps per set; 3 sets of exercises for each movement, 3 days a week:
The ideal would be to find machines that work these motions at a gym. I've been to several YMCAs in town and haven't seen any neck machines. The next best is to use a towel and a weight plate for the first three exercises and then hand pressure for the fourth. Last options would be hand pressure or using elastic bands for all 4 exercises.
(Here's a link to the most comprehensive article I read on the subject: https://athleticsi.com/neck-training-to-prevent-concussions/ .)