There might be a better way, but how I generally handle this is adding the ~/.local/bin directory to the start of the PATH env via ~/.bashrc like:
export PATH="${HOME}/.local/bin:${PATH}"
and creating a file with the name ~/.local/bin/command. This file will look something like what is below, note the full path to the real binary (/usr/bin/command in this case) else you'll get an endless recursion:
#!/bin/bash
export SOME_ENV_VAR=value
/usr/bin/command ${@}
Once you chmod +x ~/.local/bin/command, you can just call command and it will run it with the script which sets up the environment and passes the arguments to the actual binary.