Why not aller à pied instead of marcher? The problem contrast one means of transport with another. I missed the bus so I had to walk--aller à pied.
With aller à pied you need a destination. Without a destination it is marcher.
I missed the bus, so I had to walk. -- J'ai raté le bus, alors j'ai dû marcher.I missed the bus, so I had to walk to school -- J'ai raté le bus, alors j'ai dû aller à pied à l'écôle.
There is no means of transport mentioned in the statement Je vais généralement à la gym à pied.
But isn't not according to your instruction, both destination and contrast.
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