Woocommerce Memberships offer a free registration form
Many membership sites offer a free membership level, there should be an easy form we can use to register members quickly without having to go to the checkout, or login page.
Memberships allows for creating memberships from user registration, so any form plugin that allows for registration can be used here, or the WooCommerce registration form that’s built in.
Greg Reimer commented
A feature I use on my site with Membermouse: mini signup forms all over the place.
Additionally, create mini checkouts where a visitor could purchase the required access for that page *right from that page*.