Do you need a membership to work out here?

If you know someone who have a membership, you can attend with them as a guest. I'm not 100% sure if you can go without that or a membership. I would call to confirm.

So the basic membership is $10 per month in addition to an annual membership fee of $39.

You can work out as a guest of someone with a membership or get a membership which is cheap, very cheap.

You can cancel your membership whenever you want to 👍

Yes. But the basic membership is only $10. Per month. But you are committed for a year.